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compare: PLS5618:main
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3 Commits
9fa5624504 ... main

Author SHA1 Message Date
Antoine PerreaultE
1d5e627dbf mode auto 2026-01-21 18:04:59 -05:00
Antoine PerreaultE
3f546b61d6 Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025 2026-01-19 18:29:04 -05:00
Antoine PerreaultE
5a8a499e05 apriltag 2026-01-19 18:28:18 -05:00
30 changed files with 62 additions and 1954 deletions
Expand all files Collapse all files

57
src/main/deploy/pathplanner/autos/BlueBas1.auto
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@@ -1,57 +0,0 @@
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}

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

@@ -1,151 +0,0 @@
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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
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@@ -1,245 +0,0 @@
{
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57
src/main/deploy/pathplanner/autos/BlueHaut1.auto
View File

@@ -1,57 +0,0 @@
{
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151
src/main/deploy/pathplanner/autos/BlueHaut2.auto
View File

@@ -1,151 +0,0 @@
{
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245
src/main/deploy/pathplanner/autos/BlueHaut3.auto
View File

@@ -1,245 +0,0 @@
{
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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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57
src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto
View File

@@ -1,57 +0,0 @@
{
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19
src/main/deploy/pathplanner/autos/New Auto.auto
View File

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

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

@@ -1,25 +0,0 @@
{
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63
src/main/deploy/pathplanner/autos/baleeuse.auto
View File

@@ -1,63 +0,0 @@
{
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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
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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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37
src/main/deploy/pathplanner/paths/New Path.path
View File

@@ -3,25 +3,25 @@
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{ {
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"nextControl": { "nextControl": {
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{ {
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@@ -30,18 +30,29 @@
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"name": "Point Towards Zone"
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"unlimited": false "unlimited": false
}, },
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"rotation": 0.0 "rotation": 0.0
}, },
"reversed": false, "reversed": false,

54
src/main/deploy/pathplanner/paths/Sortir.path
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11
src/main/java/frc/robot/RobotContainer.java
View File

@@ -11,6 +11,7 @@ import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2; import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
@@ -84,7 +85,6 @@ public class RobotContainer {
public double getAngle() { public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
} }
Elevateur elevateur = new Elevateur(); Elevateur elevateur = new Elevateur();
Pince pince = new Pince(); Pince pince = new Pince();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY); ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -98,6 +98,9 @@ public class RobotContainer {
autoChooser = AutoBuilder.buildAutoChooser(); autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
SmartDashboard.putData("Auto Chooser", autoChooser); SmartDashboard.putData("Auto Chooser", autoChooser);
NamedCommands.registerCommand("AprilTag", new AprilTag3(limelight3,drivetrain));
NamedCommands.getCommand("AprilTag");
NamedCommands.registerCommand("L2", new L2(elevateur, pince));
configureBindings(); configureBindings();
} }
@@ -116,7 +119,7 @@ public class RobotContainer {
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie)); manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie));
manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie)); manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
// manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain1,manette1::getLeftX,manette1::getLeftY)); manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie)); manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
manette1.leftTrigger().whileTrue(new DepartPince(pince)); manette1.leftTrigger().whileTrue(new DepartPince(pince));
manette1.povDown().whileTrue(new Algue_inspire(pince,bougie)); manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
@@ -140,8 +143,8 @@ public class RobotContainer {
manette2.x().whileTrue(new ExpireCorail(requin, bougie)); manette2.x().whileTrue(new ExpireCorail(requin, bougie));
//limelight //limelight
// manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); 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 manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{

13
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.Optional;
import java.util.function.DoubleSupplier; import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.math.filter.SlewRateLimiter; import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.DriverStation.Alliance;
@@ -23,7 +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 */ /* 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 { public class AprilTag3 extends Command {
private Limelight3 limelight3; private Limelight3 limelight3;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); private CommandSwerveDrivetrain drivetrain;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); 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 x;
@@ -33,7 +35,7 @@ public class AprilTag3 extends Command {
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
/** Creates a new AprilTag3G. */ /** Creates a new AprilTag3G. */
public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) { public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain) {
this.limelight3 = limelight3; this.limelight3 = limelight3;
this.drivetrain = drivetrain; this.drivetrain = drivetrain;
this.x = x; this.x = x;
@@ -58,7 +60,7 @@ public class AprilTag3 extends Command {
double x2 = 0; double x2 = 0;
double angle = drivetrain.getPigeon2().getYaw().getValueAsDouble(); double angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
if(angle >180){ if(angle >180){
angle =- angle * 2; angle =- 360;
} }
if(alliance.get() == DriverStation.Alliance.Red){ if(alliance.get() == DriverStation.Alliance.Red){
BotPose = limelight3.getBotPoseRed(); BotPose = limelight3.getBotPoseRed();
@@ -69,14 +71,15 @@ public class AprilTag3 extends Command {
x2 = 4.1; x2 = 4.1;
} }
double botx = BotPose[0]; double botx = BotPose[0];
System.out.println(botx);
double boty = BotPose[1]; double boty = BotPose[1];
double tx = limelight3.getTx(); double tx = limelight3.getTx();
double tagId = limelight3.getTId(); double tagId = limelight3.getTId();
if(limelight3.getV() == true){ if(limelight3.getV() == true){
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(limelight3.Calcule(botx,x2,boty,y2,angle)). withRotationalRate(limelight3.Calcule(botx,x2,boty,y2,angle)).
withVelocityX(x.getAsDouble()). withVelocityX(0).
withVelocityY(y.getAsDouble())); withVelocityY(0));
// if(tagId ==10){ // if(tagId ==10){
// drivetrain.setControl(drive. // drivetrain.setControl(drive.
// withRotationalRate(tx/20). // withRotationalRate(tx/20).

2
src/main/java/frc/robot/commands/Limelight/AprilTag3G.java
View File

@@ -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 */ /* 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 { public class AprilTag3G extends Command {
private Limelight3G limelight3g; private Limelight3G limelight3g;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); private CommandSwerveDrivetrain drivetrain;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); 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 x;

2
src/main/java/frc/robot/commands/Limelight/Forme3.java
View File

@@ -20,7 +20,7 @@ public class Forme3 extends Command {
private Limelight3 limelight3; private Limelight3 limelight3;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); 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 CommandSwerveDrivetrain drivetrain;
private DoubleSupplier x; private DoubleSupplier x;
private DoubleSupplier y; private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */ /* Setting up bindings for necessary control of the swerve drive platform */

4
src/main/java/frc/robot/subsystems/Limelight3.java
View File

@@ -30,13 +30,13 @@ public class Limelight3 extends SubsystemBase {
} }
public double[] getBotPoseBlue(){ public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon"); NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue"); NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]); double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose; return BotPose;
} }
public double[] getBotPoseRed(){ public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon"); NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired"); NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]); double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose; return BotPose;
} }