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1 Commits
3f546b61d6 ... main

Author SHA1 Message Date
Antoine PerreaultE
1d5e627dbf mode auto 2026-01-21 18:04:59 -05:00
27 changed files with 53 additions and 1922 deletions
Expand all files Collapse all files

57
src/main/deploy/pathplanner/autos/BlueBas1.auto
View File

@@ -1,57 +0,0 @@
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{
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"data": {
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}
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"folder": null,
"choreoAuto": false
}

151
src/main/deploy/pathplanner/autos/BlueBas2.auto
View File

@@ -1,151 +0,0 @@
{
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{
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"pathName": "BlueBasChercher"
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},
{
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"name": "AprilTag"
}
},
{
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{
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{
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"data": {
"pathName": "BlueBasPorter"
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}

126
src/main/deploy/pathplanner/autos/BlueBas3 sans composantes.auto
View File

@@ -1,126 +0,0 @@
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245
src/main/deploy/pathplanner/autos/BlueBas3.auto
View File

@@ -1,245 +0,0 @@
{
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{
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"name": "AprilTag"
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}
]
}
},
{
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"name": "CoralExpire"
}
},
{
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{
"type": "parallel",
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{
"type": "path",
"data": {
"pathName": "BlueBasChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
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{
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"name": "CoralInspire"
}
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"name": "AprilTag"
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{
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"name": "CoralExpire"
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32
src/main/deploy/pathplanner/autos/BlueHaut1.auto
View File

@@ -1,32 +0,0 @@
{
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151
src/main/deploy/pathplanner/autos/BlueHaut2.auto
View File

@@ -1,151 +0,0 @@
{
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{
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"data": {
"name": "CoralExpire"
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},
{
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},
{
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{
"type": "path",
"data": {
"pathName": "BlueHautChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
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{
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{
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"data": {
"name": "CoralInspire"
}
},
{
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"data": {
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{
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{
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}

245
src/main/deploy/pathplanner/autos/BlueHaut3.auto
View File

@@ -1,245 +0,0 @@
{
"version": "2025.0",
"command": {
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"data": {
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{
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{
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{
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{
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"data": {
"name": "AprilTag"
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{
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"data": {
"name": "CoralExpire"
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"resetOdom": true,
"folder": null,
"choreoAuto": false
}

87
src/main/deploy/pathplanner/autos/MilieuAlgue.auto
View File

@@ -1,87 +0,0 @@
{
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{
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},
{
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"name": "AprilTag"
}
},
{
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},
{
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"data": {
"name": "CoralExpire"
}
},
{
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},
{
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"data": {
"name": "L3"
}
},
{
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},
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"resetOdom": true,
"folder": null,
"choreoAuto": false
}

57
src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto
View File

@@ -1,57 +0,0 @@
{
"version": "2025.0",
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{
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},
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}

19
src/main/deploy/pathplanner/autos/New Auto.auto
View File

@@ -9,6 +9,25 @@
"data": {
"pathName": "New Path"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
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]
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}
]
}

25
src/main/deploy/pathplanner/autos/Sortir.auto
View File

@@ -1,25 +0,0 @@
{
"version": "2025.0",
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{
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},
{
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"data": {
"pathName": "Sortir"
}
}
]
}
},
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}

63
src/main/deploy/pathplanner/autos/baleeuse.auto
View File

@@ -1,63 +0,0 @@
{
"version": "2025.0",
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"commands": [
{
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}
}
]
}
}
]
}
},
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"choreoAuto": false
}

70
src/main/deploy/pathplanner/paths/BlueBasChercher.path
View File

@@ -1,70 +0,0 @@
{
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54
src/main/deploy/pathplanner/paths/BlueBasChercher2.path
View File

@@ -1,54 +0,0 @@
{
"version": "2025.0",
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54
src/main/deploy/pathplanner/paths/BlueBasPorter.path
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54
src/main/deploy/pathplanner/paths/BlueBasPorter2.path
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54
src/main/deploy/pathplanner/paths/BlueBasStart.path
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54
src/main/deploy/pathplanner/paths/BlueHautChercher.path
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54
src/main/deploy/pathplanner/paths/BlueHautChercher2.path
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54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
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54
src/main/deploy/pathplanner/paths/BlueHautPorter2.path
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54
src/main/deploy/pathplanner/paths/BlueHautStart.path
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54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
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@@ -1,54 +0,0 @@
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37
src/main/deploy/pathplanner/paths/New Path.path
View File

@@ -3,25 +3,25 @@
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{
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@@ -30,18 +30,29 @@
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54
src/main/deploy/pathplanner/paths/Sortir.path
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@@ -1,54 +0,0 @@
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6
src/main/java/frc/robot/RobotContainer.java
View File

@@ -98,7 +98,9 @@ public class RobotContainer {
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
SmartDashboard.putData("Auto Chooser", autoChooser);
//NamedCommands.registerCommand("AprilTag", new AprilTag3(limelight3, drivetrain,, null));
NamedCommands.registerCommand("AprilTag", new AprilTag3(limelight3,drivetrain));
NamedCommands.getCommand("AprilTag");
NamedCommands.registerCommand("L2", new L2(elevateur, pince));
configureBindings();
}
@@ -142,7 +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(()->{

10
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
View File

@@ -8,9 +8,11 @@ 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;
@@ -33,7 +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;
@@ -58,7 +60,7 @@ public class AprilTag3 extends Command {
double x2 = 0;
double angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
if(angle >180){
angle =- angle * 2;
angle =- 360;
}
if(alliance.get() == DriverStation.Alliance.Red){
BotPose = limelight3.getBotPoseRed();
@@ -76,8 +78,8 @@ public class AprilTag3 extends Command {
if(limelight3.getV() == true){
drivetrain.setControl(drive.
withRotationalRate(limelight3.Calcule(botx,x2,boty,y2,angle)).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
withVelocityX(0).
withVelocityY(0));
// if(tagId ==10){
// drivetrain.setControl(drive.
// withRotationalRate(tx/20).