PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
samuel desharnais
2025-02-27 19:31:02 -05:00
parent 5a3f683c43 85fa0e0c62
commit c589604b95
26 changed files with 500 additions and 199 deletions
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8
src/main/java/frc/robot/subsystems/Bougie.java
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@@ -43,8 +43,12 @@ public class Bougie extends SubsystemBase {
candle.setLEDs(255, 215, 0,0,48,8);
candle.setLEDs(255, 215, 0,0,64,8);
}
public void RainBow(){candle.animate(rainbowAnim);}
public void RainBowStop(){candle.animate(null);}
public void RainBow(){
candle.animate(rainbowAnim);
}
public void RainBowStop(){
candle.animate(null);
}
@Override
public void periodic() {
// This method will be called once per scheduler run

89
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
/**
@@ -44,71 +43,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
/* Swerve requests to apply during SysId characterization */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config(
null, // Use default ramp rate (1 V/s)
Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
null, // Use default timeout (10 s)
// Log state with SignalLogger class
state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
),
new SysIdRoutine.Mechanism(
output -> setControl(m_translationCharacterization.withVolts(output)),
null,
this
)
);
/* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
new SysIdRoutine.Config(
null, // Use default ramp rate (1 V/s)
Volts.of(7), // Use dynamic voltage of 7 V
null, // Use default timeout (10 s)
// Log state with SignalLogger class
state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
),
new SysIdRoutine.Mechanism(
volts -> setControl(m_steerCharacterization.withVolts(volts)),
null,
this
)
);
/*
* SysId routine for characterizing rotation.
* This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
* See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
*/
private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
new SysIdRoutine.Config(
/* This is in radians per second², but SysId only supports "volts per second" */
Volts.of(Math.PI / 6).per(Second),
/* This is in radians per second, but SysId only supports "volts" */
Volts.of(Math.PI),
null, // Use default timeout (10 s)
// Log state with SignalLogger class
state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
),
new SysIdRoutine.Mechanism(
output -> {
/* output is actually radians per second, but SysId only supports "volts" */
setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
/* also log the requested output for SysId */
SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
},
null,
this
)
);
private void configureAutoBuilder() {
try {
var config = RobotConfig.fromGUISettings();
@@ -140,9 +76,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
return 0;
});
}
/* The SysId routine to test */
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -234,28 +167,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
return run(() -> this.setControl(requestSupplier.get()));
}
/**
* Runs the SysId Quasistatic test in the given direction for the routine
* specified by {@link #m_sysIdRoutineToApply}.
*
* @param direction Direction of the SysId Quasistatic test
* @return Command to run
*/
public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.quasistatic(direction);
}
/**
* Runs the SysId Dynamic test in the given direction for the routine
* specified by {@link #m_sysIdRoutineToApply}.
*
* @param direction Direction of the SysId Dynamic test
* @return Command to run
*/
public Command sysIdDynamic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.dynamic(direction);
}
@Override
public void periodic() {

14
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -3,8 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -25,7 +23,17 @@ public class Elevateur extends SubsystemBase {
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
monte.set(vitesse);
if (limit2()) {
if (vitesse > 0) {
monte.set(0);
}
else{
monte.set(vitesse);
}
}
else{
monte.set(vitesse);
}
}
public boolean limit2(){
return limit2.get();

27
src/main/java/frc/robot/subsystems/Pince.java
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@@ -6,8 +6,6 @@ package frc.robot.subsystems;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -27,11 +25,21 @@ public class Pince extends SubsystemBase {
final DigitalInput limit6 = new DigitalInput(9);
public void aspirecoral(double vitesse){
coral.set(vitesse);
}
public void aspirecoral(double vitesse){
coral.set(vitesse);
}
public void pivote(double vitesse){
pivoti.set(vitesse);
if (position()) {
if (vitesse > 0) {
pivoti.set(0);
}
else{
pivoti.set(vitesse);
}
}
else{
pivoti.set(vitesse);
}
}
public void aspirealgue(double vitesse){
algue2.set(-vitesse);
@@ -52,12 +60,7 @@ public double emperagecoral(){
public double emperagealgue(){
return algue1.getOutputCurrent();
}
public void algue1Test(double vitesse){
algue1.set(vitesse);
}
public void algue2Test(double vitesse){
algue2.set(vitesse);
}
@Override
public void periodic() {
// This method will be called once per scheduler run

48
src/main/java/frc/robot/subsystems/Requin.java Normal file
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@@ -0,0 +1,48 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Requin extends SubsystemBase {
/** Creates a new Requin. */
ShuffleboardTab teb = Shuffleboard.getTab("teb");
public Requin() {
teb.addBoolean("limit requin", this::enHaut);
}
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(1);
public void balaye(double vitesse){
balaye.set(vitesse);
}
public void rotationer(double vitesse){
rotatione.set(vitesse);
}
public boolean enHaut(){
return limit3.get();
}
public double encodeur(){
return rotatione.getEncoder().getPosition();
}
public void reset(){
rotatione.getEncoder().setPosition(0);
}
public double amp(){
return balaye.getOutputCurrent();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}