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limelight

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This commit is contained in:
Antoine PerreaultE
2025-02-17 18:33:49 -05:00
parent be9f3856f7
commit d692bab745
13 changed files with 322 additions and 52 deletions
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31
src/main/java/frc/robot/RobotContainer.java
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@ -7,6 +7,7 @@ package frc.robot;
import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
import com.ctre.phoenix6.swerve.SwerveRequest;
@ -15,12 +16,15 @@ import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
@ -56,7 +60,12 @@ public class RobotContainer {
Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3();
public RobotContainer() {
Pose2d pose = new Pose2d();
private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
}
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
@ -68,25 +77,25 @@ public class RobotContainer {
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.15)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.15)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
)
);
// reset the field-centric heading on left bumper press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain));
manette1.rightTrigger().whileTrue(new Forme3(limelight3));
manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
drivetrain.registerTelemetry(logger::telemeterize);
}
public Command getAutonomousCommand() {
return new ParallelCommandGroup(
autoChooser.getSelected(),
new RainBow(bougie));
}
return new SequentialCommandGroup(autoChooser.getSelected(),
new RainBow(bougie));
}
}

33
src/main/java/frc/robot/commands/AprilTag3.java
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@ -5,6 +5,8 @@
package frc.robot.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
@ -18,16 +20,19 @@ public class AprilTag3 extends Command {
private Limelight3 limelight3;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
/** Creates a new AprilTag3G. */
public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain) {
public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3 = limelight3;
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
@ -42,24 +47,30 @@ public class AprilTag3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double a = limelight3.getX();
if(limelight3.getV() == true){
drivetrain.applyRequest(() ->
drive.withRotationalRate(limelight3.getX()/48));
System.out.println(limelight3.getX()/48);
drivetrain.setControl(drive.
withRotationalRate(a/10).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/10);
}
else{
drivetrain.applyRequest(() ->
drive.withRotationalRate(0)
);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.applyRequest(() ->
drive.withRotationalRate(0));
drivetrain.setControl(drive.
withRotationalRate(0)
.withVelocityX(0)
.withVelocityY(0));
}
// Returns true when the command should end.

35
src/main/java/frc/robot/commands/AprilTag3G.java
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@ -4,29 +4,37 @@
package frc.robot.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3G;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class AprilTag3G extends Command {
private Limelight3G limelight3g;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
/** Creates a new AprilTag3G. */
/** Creates a new AprilTag3G. */
public AprilTag3G(Limelight3G limelight3g) {
public AprilTag3G(Limelight3G limelight3g,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3g = limelight3g;
addRequirements(limelight3g);
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3g,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -37,18 +45,29 @@ public class AprilTag3G extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double a = limelight3g.getX();
if(limelight3g.getV() == true){
drive.withRotationalRate(limelight3g.getX()/48);
drivetrain.setControl(drive.
withRotationalRate(-a/5).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/5);
}
else{
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
// Returns true when the command should end.

35
src/main/java/frc/robot/commands/Forme3.java
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@ -4,28 +4,36 @@
package frc.robot.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class Forme3 extends Command {
private Limelight3 limelight3;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
/** Creates a new Forme3. */
public Forme3(Limelight3 limelight3) {
public Forme3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3 = limelight3;
addRequirements(limelight3);
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -38,18 +46,29 @@ public class Forme3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double a = limelight3.getX();
if(limelight3.getV() == true){
drive.withRotationalRate(limelight3.getX()/48);
drivetrain.setControl(drive.
withRotationalRate(a/10).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/10);
}
else{
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
// Returns true when the command should end.

4
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@ -6,6 +6,7 @@ import java.util.function.Supplier;
import com.ctre.phoenix6.SignalLogger;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveRequest;
@ -53,6 +54,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
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)
@ -255,7 +257,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public Command sysIdDynamic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.dynamic(direction);
}
@Override
public void periodic() {
/*