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3ec58dca1a |
3
.vscode/settings.json
vendored
3
.vscode/settings.json
vendored
@@ -56,5 +56,6 @@
|
||||
"edu.wpi.first.math.proto.*",
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||||
"edu.wpi.first.math.**.proto.*",
|
||||
"edu.wpi.first.math.**.struct.*",
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||||
]
|
||||
],
|
||||
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
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||||
}
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||||
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||||
@@ -1,4 +1,9 @@
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{
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"visible": false
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}
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},
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||||
"System Joysticks": {
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"window": {
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"enabled": false
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@@ -1,57 +0,0 @@
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@@ -1,151 +0,0 @@
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"pathName": "BlueBasPorter"
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}
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},
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{
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"type": "sequential",
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"data": {
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{
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"folder": null,
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@@ -1,126 +0,0 @@
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@@ -1,245 +0,0 @@
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@@ -1,57 +0,0 @@
|
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{
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"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueHautStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
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||||
"choreoAuto": false
|
||||
}
|
||||
@@ -1,151 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
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||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
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||||
"data": {
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||||
"commands": [
|
||||
{
|
||||
"type": "path",
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||||
"data": {
|
||||
"pathName": "BlueHautStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
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||||
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||||
"name": "AprilTag"
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||||
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||||
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||||
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||||
"type": "sequential",
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
"type": "named",
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||||
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||||
"name": "L4"
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
"pathName": "BlueHautChercher"
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||||
}
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||||
},
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||||
{
|
||||
"type": "named",
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||||
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||||
"name": "AprilTag"
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||||
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||||
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||||
{
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||||
"type": "sequential",
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||||
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||||
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||||
{
|
||||
"type": "wait",
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||||
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||||
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||||
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||||
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||||
{
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||||
"type": "named",
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||||
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||||
"name": "Station"
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||||
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||||
}
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||||
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||||
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||||
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||||
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||||
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||||
},
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||||
{
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||||
"type": "named",
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||||
"data": {
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||||
"name": "CoralInspire"
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
"name": "AprilTag"
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||||
}
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||||
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||||
{
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||||
"type": "path",
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||||
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||||
"pathName": "BlueHautPorter"
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||||
}
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||||
},
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||||
{
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||||
"type": "sequential",
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||||
"data": {
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||||
"commands": [
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||||
{
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||||
"type": "wait",
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||||
"data": {
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||||
"waitTime": 0.5
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||||
}
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||||
},
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||||
{
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||||
"type": "named",
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||||
"data": {
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||||
"name": "L4"
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||||
}
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||||
}
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||||
]
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||||
}
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||||
}
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||||
]
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||||
}
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||||
},
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||||
{
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||||
"type": "named",
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||||
"data": {
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||||
"name": "CoralExpire"
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||||
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||||
}
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||||
]
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||||
}
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||||
},
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||||
"resetOdom": true,
|
||||
"folder": null,
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||||
"choreoAuto": false
|
||||
}
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||||
@@ -1,245 +0,0 @@
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||||
{
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||||
"version": "2025.0",
|
||||
"command": {
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||||
"type": "sequential",
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||||
"data": {
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||||
"commands": [
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||||
{
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||||
"type": "parallel",
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||||
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||||
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||||
{
|
||||
"type": "path",
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||||
"data": {
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||||
"pathName": "BlueHautStart"
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||||
}
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||||
},
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||||
{
|
||||
"type": "named",
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||||
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||||
"name": "AprilTag"
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||||
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||||
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||||
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||||
"type": "sequential",
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||||
"data": {
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||||
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||||
{
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||||
"type": "wait",
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||||
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||||
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||||
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||||
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||||
{
|
||||
"type": "named",
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||||
"data": {
|
||||
"name": "L4"
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||||
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||||
}
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||||
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||||
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|
||||
}
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||||
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||||
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|
||||
},
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||||
{
|
||||
"type": "named",
|
||||
"data": {
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||||
"name": "CoralExpire"
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
}
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||||
},
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||||
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||||
"type": "parallel",
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||||
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||||
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|
||||
{
|
||||
"type": "path",
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||||
"data": {
|
||||
"pathName": "BlueHautChercher"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
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||||
"name": "AprilTag"
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
}
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||||
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||||
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||||
},
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||||
{
|
||||
"type": "named",
|
||||
"data": {
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||||
"name": "CoralInspire"
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||||
}
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||||
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||||
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||||
"type": "parallel",
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
"pathName": "BlueHautChercher2"
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||||
}
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
},
|
||||
{
|
||||
"type": "named",
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
},
|
||||
{
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||||
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|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
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||||
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|
||||
}
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||||
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||||
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|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
@@ -1,87 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
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||||
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||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
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|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueMilieuStart"
|
||||
}
|
||||
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|
||||
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|
||||
"type": "named",
|
||||
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|
||||
"name": "AprilTag"
|
||||
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|
||||
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|
||||
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|
||||
"type": "sequential",
|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
"name": "L4"
|
||||
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|
||||
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|
||||
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|
||||
"type": "wait",
|
||||
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||||
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||||
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||||
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|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
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|
||||
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||||
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|
||||
{
|
||||
"type": "wait",
|
||||
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|
||||
"waitTime": 0.5
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||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L3"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
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||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoraletAlgue"
|
||||
}
|
||||
}
|
||||
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|
||||
}
|
||||
}
|
||||
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||||
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|
||||
}
|
||||
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|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
@@ -1,57 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
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|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueMilieuStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
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|
||||
"type": "sequential",
|
||||
"data": {
|
||||
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|
||||
{
|
||||
"type": "wait",
|
||||
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||||
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||||
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||||
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||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
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||||
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|
||||
}
|
||||
]
|
||||
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|
||||
}
|
||||
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||||
}
|
||||
}
|
||||
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|
||||
}
|
||||
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|
||||
"resetOdom": true,
|
||||
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|
||||
"choreoAuto": false
|
||||
}
|
||||
@@ -9,6 +9,25 @@
|
||||
"data": {
|
||||
"pathName": "New Path"
|
||||
}
|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
"type": "wait",
|
||||
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|
||||
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||||
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||||
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|
||||
{
|
||||
"type": "named",
|
||||
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|
||||
"name": "AprilTag"
|
||||
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|
||||
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|
||||
]
|
||||
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|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
@@ -1,25 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
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|
||||
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|
||||
{
|
||||
"type": "wait",
|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "Sortir"
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||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
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||||
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|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "New Path"
|
||||
}
|
||||
},
|
||||
{
|
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||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -1,54 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.22858606557377,
|
||||
"y": 7.075870901639344
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 5.75022271481963,
|
||||
"y": 5.75328924697144
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.226639344262295,
|
||||
"y": 5.313678278688524
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.307613733266616,
|
||||
"y": 6.263998815998496
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -1,54 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.300512295081968,
|
||||
"y": 3.971055327868852
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 6.294286688638351,
|
||||
"y": 3.9754565484205786
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.9818647540983605,
|
||||
"y": 3.971055327868852
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.956229117816136,
|
||||
"y": 3.9576132249181755
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -3,25 +3,25 @@
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.564241803278687,
|
||||
"y": 3.899129098360655
|
||||
"x": 14.0,
|
||||
"y": 3.0
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 6.506996649367605,
|
||||
"y": 3.898163120386143
|
||||
"x": 13.971750000000002,
|
||||
"y": 4.727
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 6.269569672131147,
|
||||
"y": 3.899129098360655
|
||||
"x": 14.0,
|
||||
"y": 5.0
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 7.259410179761819,
|
||||
"y": 3.9002985318003183
|
||||
"x": 13.9815,
|
||||
"y": 3.7562499999999996
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
@@ -30,18 +30,29 @@
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"pointTowardsZones": [
|
||||
{
|
||||
"fieldPosition": {
|
||||
"x": 11.9,
|
||||
"y": 4.0
|
||||
},
|
||||
"rotationOffset": 180.0,
|
||||
"minWaypointRelativePos": 0.0,
|
||||
"maxWaypointRelativePos": 1.0,
|
||||
"name": "Point Towards Zone"
|
||||
}
|
||||
],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 0.1,
|
||||
"maxAngularAcceleration": 0.1,
|
||||
"maxVelocity": 1.0,
|
||||
"maxAcceleration": 1.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0.0,
|
||||
"velocity": 0,
|
||||
"rotation": 0.0
|
||||
},
|
||||
"reversed": false,
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.504303278688524,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 7.119564732833961,
|
||||
"y": 6.478684258786044
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.815652951699465,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.633711863494241,
|
||||
"y": 6.455611583097
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 1.0,
|
||||
"maxAcceleration": 1.0,
|
||||
"maxAngularVelocity": 50.0,
|
||||
"maxAngularAcceleration": 100.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"useDefaultConstraints": false
|
||||
}
|
||||
@@ -9,7 +9,7 @@
|
||||
"defaultMaxAngVel": 540.0,
|
||||
"defaultMaxAngAccel": 720.0,
|
||||
"defaultNominalVoltage": 12.0,
|
||||
"robotMass": 45.3592,
|
||||
"robotMass": 45.359,
|
||||
"robotMOI": 6.883,
|
||||
"robotTrackwidth": 0.546,
|
||||
"driveWheelRadius": 0.048,
|
||||
|
||||
@@ -10,21 +10,22 @@ import java.util.Map;
|
||||
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
|
||||
import com.ctre.phoenix6.hardware.Pigeon2;
|
||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
||||
import com.pathplanner.lib.auto.AutoBuilder;
|
||||
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.networktables.GenericEntry;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
|
||||
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.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
import frc.robot.TunerConstants.TunerConstants;
|
||||
import frc.robot.commands.RainBow;
|
||||
import frc.robot.commands.reset;
|
||||
import frc.robot.commands.Elevateur.Depart;
|
||||
import frc.robot.commands.Elevateur.ElevateurManuel;
|
||||
@@ -59,6 +60,7 @@ import frc.robot.commands.Elevateur.balonL2;
|
||||
import frc.robot.commands.Elevateur.balonL3;
|
||||
|
||||
public class RobotContainer {
|
||||
private final SendableChooser<Command> autoChooser;
|
||||
ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
|
||||
.withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
|
||||
GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
|
||||
@@ -83,7 +85,6 @@ public class RobotContainer {
|
||||
public double getAngle() {
|
||||
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
|
||||
}
|
||||
|
||||
Elevateur elevateur = new Elevateur();
|
||||
Pince pince = new Pince();
|
||||
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
|
||||
@@ -91,16 +92,19 @@ public class RobotContainer {
|
||||
Bougie bougie = new Bougie();
|
||||
Limelight3G limelight3g = new Limelight3G();
|
||||
Limelight3 limelight3 = new Limelight3();
|
||||
Pose2d pose = new Pose2d();
|
||||
Requin requin = new Requin();
|
||||
CorailAspir corailAspir = new CorailAspir(pince, bougie);
|
||||
public RobotContainer() {
|
||||
autoChooser = AutoBuilder.buildAutoChooser();
|
||||
CameraServer.startAutomaticCapture();
|
||||
SmartDashboard.putData("Auto Chooser", autoChooser);
|
||||
NamedCommands.registerCommand("AprilTag", new AprilTag3(limelight3,drivetrain));
|
||||
NamedCommands.getCommand("AprilTag");
|
||||
NamedCommands.registerCommand("L2", new L2(elevateur, pince));
|
||||
configureBindings();
|
||||
}
|
||||
|
||||
private void configureBindings() {
|
||||
drivetrain.registerTelemetry(logger::telemeterize);
|
||||
drivetrain.setDefaultCommand(
|
||||
// Drivetrain will execute this command periodically
|
||||
drivetrain.applyRequest(() ->
|
||||
@@ -140,7 +144,7 @@ public class RobotContainer {
|
||||
|
||||
//limelight
|
||||
manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
|
||||
manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
|
||||
manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain));
|
||||
|
||||
//Pince manuel
|
||||
pince.setDefaultCommand(new RunCommand(()->{
|
||||
@@ -154,37 +158,39 @@ public class RobotContainer {
|
||||
|
||||
//Reset encodeur
|
||||
manette2.start().whileTrue(new reset(elevateur, pince, requin));
|
||||
drivetrain.registerTelemetry(logger::telemeterize);
|
||||
}
|
||||
|
||||
public Command getAutonomousCommand() {
|
||||
return new SequentialCommandGroup(
|
||||
drivetrain.applyRequest(()->
|
||||
drive.withVelocityX(0.1*MaxSpeed)
|
||||
.withVelocityY(0)
|
||||
.withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5),
|
||||
drivetrain.applyRequest(()->
|
||||
drive.withVelocityX(-0.1*MaxSpeed)
|
||||
.withVelocityY(0)
|
||||
.withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5),
|
||||
drivetrain.applyRequest(()->
|
||||
drive.withVelocityX(-0.1*MaxSpeed)
|
||||
.withVelocityY(0)
|
||||
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
|
||||
drivetrain.applyRequest(()->
|
||||
drive.withVelocityX(0.1*MaxSpeed)
|
||||
.withVelocityY(0)
|
||||
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3),
|
||||
drivetrain.applyRequest(()->
|
||||
drive.withVelocityX(-0.1*MaxSpeed)
|
||||
.withVelocityY(0)
|
||||
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
|
||||
drivetrain.applyRequest(()->
|
||||
drive.withVelocityX(0)
|
||||
.withVelocityY(0)
|
||||
.withRotationalRate(0)).withTimeout(0.1),
|
||||
new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
|
||||
new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
|
||||
new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
|
||||
new RainBow(bougie));
|
||||
}
|
||||
return autoChooser.getSelected();
|
||||
// return new SequentialCommandGroup(
|
||||
// drivetrain.applyRequest(()->
|
||||
// drive.withVelocityX(0.1*MaxSpeed)
|
||||
// .withVelocityY(0)
|
||||
// .withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5),
|
||||
// drivetrain.applyRequest(()->
|
||||
// drive.withVelocityX(-0.1*MaxSpeed)
|
||||
// .withVelocityY(0)
|
||||
// .withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5),
|
||||
// drivetrain.applyRequest(()->
|
||||
// drive.withVelocityX(-0.1*MaxSpeed)
|
||||
// .withVelocityY(0)
|
||||
// .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
|
||||
// drivetrain.applyRequest(()->
|
||||
// drive.withVelocityX(0.1*MaxSpeed)
|
||||
// .withVelocityY(0)
|
||||
// .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3),
|
||||
// drivetrain.applyRequest(()->
|
||||
// drive.withVelocityX(-0.1*MaxSpeed)
|
||||
// .withVelocityY(0)
|
||||
// .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
|
||||
// drivetrain.applyRequest(()->
|
||||
// drive.withVelocityX(0)
|
||||
// .withVelocityY(0)
|
||||
// .withRotationalRate(0)).withTimeout(0.1),
|
||||
// new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
|
||||
// new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
|
||||
// new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
|
||||
// new RainBow(bougie));
|
||||
}
|
||||
}
|
||||
@@ -8,12 +8,15 @@ import static edu.wpi.first.units.Units.*;
|
||||
import java.util.Optional;
|
||||
import java.util.function.DoubleSupplier;
|
||||
|
||||
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest;
|
||||
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
|
||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
||||
|
||||
import edu.wpi.first.math.filter.SlewRateLimiter;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj.SynchronousInterrupt.WaitResult;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.TunerConstants.TunerConstants;
|
||||
import frc.robot.subsystems.CommandSwerveDrivetrain;
|
||||
@@ -22,7 +25,7 @@ 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 AprilTag3 extends Command {
|
||||
private Limelight3 limelight3;
|
||||
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
|
||||
private CommandSwerveDrivetrain drivetrain;
|
||||
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 DoubleSupplier x;
|
||||
@@ -32,7 +35,7 @@ public class AprilTag3 extends Command {
|
||||
.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, DoubleSupplier x, DoubleSupplier y) {
|
||||
public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain) {
|
||||
this.limelight3 = limelight3;
|
||||
this.drivetrain = drivetrain;
|
||||
this.x = x;
|
||||
@@ -51,27 +54,47 @@ public class AprilTag3 extends Command {
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
double[] BotPose = new double[7];
|
||||
double[] BotPose = new double[6];
|
||||
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
|
||||
double y2 = 4;
|
||||
double x2 = 0;
|
||||
double angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
|
||||
if(angle >180){
|
||||
angle =- 360;
|
||||
}
|
||||
if(alliance.get() == DriverStation.Alliance.Red){
|
||||
BotPose = limelight3.getBotPoseRed();
|
||||
x2 =11.9;
|
||||
}
|
||||
else{
|
||||
BotPose = limelight3.getBotPoseBlue();
|
||||
x2 = 4.1;
|
||||
}
|
||||
double botx = BotPose[0];
|
||||
double botz = BotPose[2];
|
||||
System.out.println(botx);
|
||||
double boty = BotPose[1];
|
||||
double tx = limelight3.getTx();
|
||||
double tagId = BotPose[7];
|
||||
double tagId = limelight3.getTId();
|
||||
if(limelight3.getV() == true){
|
||||
if(tagId ==8){
|
||||
drivetrain.setControl(drive.
|
||||
withRotationalRate(tx/20).
|
||||
withVelocityX(2-botx).
|
||||
withVelocityY(2-botz));
|
||||
}
|
||||
drivetrain.setControl(drive.
|
||||
withRotationalRate(limelight3.Calcule(botx,x2,boty,y2,angle)).
|
||||
withVelocityX(0).
|
||||
withVelocityY(0));
|
||||
// if(tagId ==10){
|
||||
// drivetrain.setControl(drive.
|
||||
// withRotationalRate(tx/20).
|
||||
// withVelocityX((botx-5.81)*2).
|
||||
// withVelocityY((boty-4)*4));
|
||||
// }
|
||||
// else if(tagId ==7){
|
||||
// drivetrain.setControl(drive.
|
||||
// withRotationalRate(tx/20).
|
||||
// withVelocityX(2-botx).
|
||||
// withVelocityY(2-boty));
|
||||
|
||||
// }
|
||||
}
|
||||
else{
|
||||
else{
|
||||
drivetrain.setControl(drive.
|
||||
withRotationalRate(0).
|
||||
withVelocityX(0).
|
||||
|
||||
@@ -18,7 +18,7 @@ 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 CommandSwerveDrivetrain drivetrain;
|
||||
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 DoubleSupplier x;
|
||||
|
||||
@@ -20,7 +20,7 @@ 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 CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
|
||||
private CommandSwerveDrivetrain drivetrain;
|
||||
private DoubleSupplier x;
|
||||
private DoubleSupplier y;
|
||||
/* Setting up bindings for necessary control of the swerve drive platform */
|
||||
|
||||
@@ -54,7 +54,7 @@ public class Bougie extends SubsystemBase {
|
||||
if(led==15){
|
||||
x=true;
|
||||
System.out.println("false");
|
||||
}}
|
||||
}}
|
||||
// candle.setLEDs(255, 0, 0,0,24,8);
|
||||
// candle.setLEDs(255, 0, 0,0,40,8);
|
||||
// candle.setLEDs(255, 0, 0,0,56,8);
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
package frc.robot.subsystems;
|
||||
|
||||
|
||||
import java.util.function.Supplier;
|
||||
import com.ctre.phoenix6.Utils;
|
||||
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
|
||||
@@ -11,6 +12,8 @@ import com.pathplanner.lib.config.RobotConfig;
|
||||
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
|
||||
import edu.wpi.first.math.Matrix;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.math.numbers.N1;
|
||||
import edu.wpi.first.math.numbers.N3;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
@@ -30,26 +33,49 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
|
||||
private static final double kSimLoopPeriod = 0.005; // 5 ms
|
||||
private Notifier m_simNotifier = null;
|
||||
private double m_lastSimTime;
|
||||
|
||||
/* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
|
||||
private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
|
||||
/* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
|
||||
private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
|
||||
/* Keep track if we've ever applied the operator perspective before or not */
|
||||
private boolean m_hasAppliedOperatorPerspective = false;
|
||||
|
||||
private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
|
||||
|
||||
// Position des modules par rapport au centre du robot
|
||||
Translation2d frontLeftLocation = new Translation2d(+0.3, +0.3);
|
||||
Translation2d frontRightLocation = new Translation2d(+0.3, -0.3);
|
||||
Translation2d backLeftLocation = new Translation2d(-0.3, +0.3);
|
||||
Translation2d backRightLocation = new Translation2d(-0.3, -0.3);
|
||||
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
|
||||
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();
|
||||
|
||||
// private void configureAutoBuilder() {
|
||||
private void configureAutoBuilder() {
|
||||
try {
|
||||
RobotConfig config = RobotConfig.fromGUISettings();
|
||||
AutoBuilder.configure(
|
||||
() -> getState().Pose, // Supplier of current robot pose
|
||||
this::resetPose, // Consumer for seeding pose against auto
|
||||
() -> getState().Speeds, // Supplier of current robot speeds
|
||||
// Consumer of ChassisSpeeds and feedforwards to drive the robot
|
||||
(speeds, feedforwards) -> setControl(
|
||||
m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
|
||||
.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
|
||||
.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
|
||||
),
|
||||
new PPHolonomicDriveController(
|
||||
// PID constants for translation
|
||||
new PIDConstants(10, 0, 0),
|
||||
// PID constants for rotation
|
||||
new PIDConstants(7, 0, 0)
|
||||
),
|
||||
config,
|
||||
// Assume the path needs to be flipped for Red vs Blue, this is normally the case
|
||||
() -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
|
||||
this // Subsystem for requirements
|
||||
);
|
||||
} catch (Exception ex) {
|
||||
DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
|
||||
}
|
||||
// try {
|
||||
// var config = RobotConfig.fromGUISettings();
|
||||
// AutoBuilder.configure(
|
||||
|
||||
// AutoBuilder.configure(
|
||||
// () -> getState().Pose, // Supplier of current robot pose
|
||||
// this::resetPose, // Consumer for seeding pose against auto
|
||||
// () -> getState().Speeds, // Supplier of current robot speeds
|
||||
@@ -62,11 +88,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
|
||||
// ),
|
||||
// new PPHolonomicDriveController(
|
||||
// // PID constants for translation
|
||||
// new PIDConstants(63.167, 0, 0.54521),
|
||||
// new PIDConstants(5, 0, 0),
|
||||
// // // PID constants for rotation
|
||||
// // new PIDConstants(7.9735, 0, 0.038499)
|
||||
// // PID constants for rotation
|
||||
// new PIDConstants(43.502,0,2.7353)
|
||||
// new PIDConstants(5,0,0)
|
||||
// ),
|
||||
// config,
|
||||
// // Assume the path needs to be flipped for Red vs Blue, this is normally the case
|
||||
@@ -77,11 +103,24 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
|
||||
// } catch (Exception ex) {
|
||||
// DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
|
||||
// }
|
||||
// PPHolonomicDriveController.overrideRotationFeedback(()->{
|
||||
// return 0;
|
||||
// });
|
||||
// }
|
||||
// PPHolonomicDriveController.overrideRotationFeedback(()->{
|
||||
// return 0;
|
||||
// });
|
||||
}
|
||||
// public void driveRobotRelative(ChassisSpeeds speeds) {
|
||||
|
||||
// // Convertir robot-relative ChassisSpeeds → SwerveModuleStates
|
||||
// SwerveModuleState[] states = kinematics.toSwerveModuleStates(speeds);
|
||||
|
||||
// // Limitations des roues
|
||||
// SwerveDriveKinematics.desaturateWheelSpeeds(states, TunerConstants.kSpeedAt12Volts);
|
||||
|
||||
// // Envoi aux modules
|
||||
// frontLeft.setDesiredState(states[0]);
|
||||
// frontRight.setDesiredState(states[1]);
|
||||
// backLeft.setDesiredState(states[2]);
|
||||
// backRight.setDesiredState(states[3]);
|
||||
// }
|
||||
/**
|
||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
||||
* <p>
|
||||
@@ -100,9 +139,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
|
||||
if (Utils.isSimulation()) {
|
||||
startSimThread();
|
||||
}
|
||||
//configureAutoBuilder();
|
||||
configureAutoBuilder();
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
||||
* <p>
|
||||
@@ -125,7 +163,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
|
||||
if (Utils.isSimulation()) {
|
||||
startSimThread();
|
||||
}
|
||||
// configureAutoBuilder();
|
||||
configureAutoBuilder();
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -158,7 +196,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
|
||||
if (Utils.isSimulation()) {
|
||||
startSimThread();
|
||||
}
|
||||
//configureAutoBuilder();
|
||||
configureAutoBuilder();
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -8,6 +8,7 @@ import edu.wpi.first.net.PortForwarder;
|
||||
import edu.wpi.first.networktables.NetworkTable;
|
||||
import edu.wpi.first.networktables.NetworkTableEntry;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
import edu.wpi.first.wpilibj.Timer;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc.robot.LimelightHelpers;
|
||||
|
||||
@@ -16,25 +17,26 @@ public class Limelight3 extends SubsystemBase {
|
||||
NetworkTableEntry pipeline = table.getEntry("pipeline");
|
||||
/** Creates a new Limelight3. */
|
||||
public Limelight3() {
|
||||
|
||||
for(int port = 5800; port <=5807; port++){
|
||||
PortForwarder.add(port, "limelight.local", port);
|
||||
}
|
||||
}
|
||||
public double[] getTargetPose(){
|
||||
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
|
||||
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
|
||||
NetworkTableEntry targetPoseEntry = limelightTable.getEntry("targetpose_cameraspace");
|
||||
double[] targetPose = targetPoseEntry.getDoubleArray(new double[6]);
|
||||
return targetPose;
|
||||
}
|
||||
public double[] getBotPoseBlue(){
|
||||
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
|
||||
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
|
||||
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
|
||||
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
|
||||
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
|
||||
return BotPose;
|
||||
}
|
||||
public double[] getBotPoseRed(){
|
||||
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
|
||||
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
|
||||
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
|
||||
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
|
||||
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
|
||||
return BotPose;
|
||||
}
|
||||
@@ -48,6 +50,11 @@ public class Limelight3 extends SubsystemBase {
|
||||
NetworkTableEntry ta = table.getEntry("ta");
|
||||
return ta.getDouble(0.0);
|
||||
}
|
||||
public double getTId(){
|
||||
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
|
||||
NetworkTableEntry tid = table.getEntry("tid");
|
||||
return tid.getDouble(0.0);
|
||||
}
|
||||
public double getRx(){
|
||||
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
|
||||
NetworkTableEntry rx = table.getEntry("rx");
|
||||
@@ -62,6 +69,17 @@ public class Limelight3 extends SubsystemBase {
|
||||
public void Forme(){
|
||||
pipeline.setNumber(0);
|
||||
}
|
||||
public double Calcule(double x1, double x2, double y1, double y2, double angle)
|
||||
{
|
||||
if (x1 > 4)
|
||||
{
|
||||
return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
|
||||
}
|
||||
else
|
||||
{
|
||||
return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
|
||||
}
|
||||
}
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "PathplannerLib-2025.2.3.json",
|
||||
"fileName": "PathplannerLib-2025.2.6.json",
|
||||
"name": "PathplannerLib",
|
||||
"version": "2025.2.3",
|
||||
"version": "2025.2.6",
|
||||
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
|
||||
"frcYear": "2025",
|
||||
"mavenUrls": [
|
||||
@@ -12,7 +12,7 @@
|
||||
{
|
||||
"groupId": "com.pathplanner.lib",
|
||||
"artifactId": "PathplannerLib-java",
|
||||
"version": "2025.2.3"
|
||||
"version": "2025.2.6"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
@@ -20,7 +20,7 @@
|
||||
{
|
||||
"groupId": "com.pathplanner.lib",
|
||||
"artifactId": "PathplannerLib-cpp",
|
||||
"version": "2025.2.3",
|
||||
"version": "2025.2.6",
|
||||
"libName": "PathplannerLib",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "Phoenix6-25.2.2.json",
|
||||
"fileName": "Phoenix6-frc2025-latest.json",
|
||||
"name": "CTRE-Phoenix (v6)",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"frcYear": "2025",
|
||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||
"mavenUrls": [
|
||||
@@ -19,14 +19,14 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "25.2.2"
|
||||
"version": "25.4.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -40,7 +40,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -54,7 +54,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "api-cpp-sim",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -68,7 +68,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -82,7 +82,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -96,7 +96,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -110,7 +110,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -124,7 +124,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -138,7 +138,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -152,7 +152,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFXS",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -166,7 +166,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -180,7 +180,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -194,7 +194,35 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANrange",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdi",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdle",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -210,7 +238,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_Phoenix6_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -226,7 +254,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_PhoenixTools",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -242,7 +270,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_Phoenix6_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -258,7 +286,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_PhoenixTools_Sim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -274,7 +302,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimTalonSRX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -290,7 +318,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimVictorSPX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -306,7 +334,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimPigeonIMU",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -322,7 +350,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimCANCoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -338,7 +366,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -354,7 +382,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFXS",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProTalonFXS",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -370,7 +398,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProCANcoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -386,7 +414,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProPigeon2",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -402,7 +430,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANrange",
|
||||
"version": "25.2.2",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProCANrange",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -414,6 +442,38 @@
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdi",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProCANdi",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdle",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimProCANdle",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user