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compare: PLS5618:2b94ebcc95a13cffcf2572419127ac92f26a3012
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6 Commits
Led ... 2b94ebcc95

Author SHA1 Message Date
Antoine PerreaultE
2b94ebcc95 Limelight 2025-02-06 19:08:24 -05:00
Antoine PerreaultE
9796800b4e limelight 2025-02-06 19:02:23 -05:00
Antoine PerreaultE
cf97a05e6f limelight 2025-02-06 18:56:22 -05:00
Antoine PerreaultE
688315bcd0 Saaaaaaaaaam 2025-02-06 17:46:04 -05:00
Antoine PerreaultE
bd180e9153 2025-01-29 19:35:45 -05:00
Antoine PerreaultE
bff426ef0f v 2025-01-28 18:29:17 -05:00
32 changed files with 1887 additions and 1838 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
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@@ -1,151 +0,0 @@
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245
src/main/deploy/pathplanner/autos/BlueBas3.auto
View File

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

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

@@ -1,19 +0,0 @@
{
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1
src/main/deploy/pathplanner/navgrid.json
View File

File diff suppressed because one or more lines are too long

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 @@
{
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54
src/main/deploy/pathplanner/paths/BlueBasPorter.path
View File

@@ -1,54 +0,0 @@
{
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54
src/main/deploy/pathplanner/paths/BlueBasPorter2.path
View File

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

@@ -1,54 +0,0 @@
{
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"globalConstraints": {
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},
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"folder": null,
"idealStartingState": {
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}

54
src/main/deploy/pathplanner/paths/BlueHautChercher.path
View File

@@ -1,54 +0,0 @@
{
"version": "2025.0",
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{
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},
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},
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}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
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"maxAngularVelocity": 540.0,
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"nominalVoltage": 12.0,
"unlimited": false
},
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},
"reversed": false,
"folder": null,
"idealStartingState": {
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}

54
src/main/deploy/pathplanner/paths/BlueHautChercher2.path
View File

@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.728176229508197,
"y": 5.277715163934426
},
"prevControl": null,
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},
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"isLocked": false,
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}
],
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"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
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"unlimited": false
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},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
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"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
View File

@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.2946721311475409,
"y": 6.88406762295082
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"prevControl": null,
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},
"prevControl": {
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},
"nextControl": null,
"isLocked": false,
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}
],
"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": -59.99999999999999
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 125.00000000000001
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"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/BlueHautPorter2.path
View File

@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.2467213114754097,
"y": 6.896055327868852
},
"prevControl": null,
"nextControl": {
"x": 3.728176229508196,
"y": 6.28468237704918
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.9969262295081966,
"y": 3.9950307377049183
},
"prevControl": {
"x": 2.6372950819672134,
"y": 4.906096311475409
},
"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": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 125.00000000000001
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/BlueHautStart.path
View File

@@ -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,
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}
],
"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
}

54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
View File

@@ -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
}

54
src/main/deploy/pathplanner/paths/Sortir.path
View File

@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.504303278688524,
"y": 6.464497950819672
},
"prevControl": null,
"nextControl": {
"x": 7.084733606557376,
"y": 6.488473360655737
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.849999999999999,
"y": 6.464497950819672
},
"prevControl": {
"x": 6.32950819672131,
"y": 6.464497950819672
},
"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
}

32
src/main/deploy/pathplanner/settings.json
View File

@@ -1,32 +0,0 @@
{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 74.088,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.35,
"flModuleY": 0.267,
"frModuleX": 0.35,
"frModuleY": -0.267,
"blModuleX": -0.35,
"blModuleY": 0.267,
"brModuleX": -0.35,
"brModuleY": -0.267,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": []
}

37
src/main/java/frc/robot/Bougie.java
View File

@@ -1,37 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.CANdleConfiguration;
import com.ctre.phoenix.led.RainbowAnimation;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(5);
CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
/** Creates a new Bougie. */
public Bougie() {
config.brightnessScalar = 0.5;
candle.configAllSettings(config);
}
public void Rouge() {
candle.setLEDs(255, 0, 0);
}
public void Vert() {
candle.setLEDs(0, 255, 0);
}
public void Bleu() {
candle.setLEDs(0, 0, 255);
}
public void RainBow(){candle.animate(rainbowAnim);}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

1645
src/main/java/frc/robot/LimelightHelpers.java Normal file
View File

File diff suppressed because it is too large Load Diff

44
src/main/java/frc/robot/RobotContainer.java
View File

@@ -4,46 +4,20 @@
package frc.robot;
import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
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.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(0);
public RobotContainer() {
configureBindings();
}
private final CommandXboxController joystick = new CommandXboxController(0);
private void configureBindings() {}
public RobotContainer() {
configureBindings();
}
private void configureBindings() {
}
public Command getAutonomousCommand() {
return Commands.print("");
}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
}

47
src/main/java/frc/robot/commands/AprilTag3.java Normal file
View File

@@ -0,0 +1,47 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Limelight3;
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 AprilTag3 extends Command {
private Limelight3 limelight3;
/** Creates a new AprilTag3G. */
public AprilTag3(Limelight3 limelight3) {
this.limelight3 = limelight3;
addRequirements(limelight3);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
limelight3.Apriltag();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(limelight3.getV() == true){
}
else{
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

46
src/main/java/frc/robot/commands/AprilTag3G.java Normal file
View File

@@ -0,0 +1,46 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
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;
/** Creates a new AprilTag3G. */
public AprilTag3G(Limelight3G limelight3g) {
this.limelight3g = limelight3g;
addRequirements(limelight3g);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(limelight3g.getV() == true){
}
else{
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

47
src/main/java/frc/robot/commands/Forme3.java Normal file
View File

@@ -0,0 +1,47 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Limelight3;
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 Forme3 extends Command {
private Limelight3 limelight3;
/** Creates a new Forme3. */
public Forme3(Limelight3 limelight3) {
this.limelight3 = limelight3;
addRequirements(limelight3);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
limelight3.Forme();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(limelight3.getV() == true){
}
else{
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

26
src/main/java/frc/robot/subsystems/Grimpeur.java Normal file
View File

@@ -0,0 +1,26 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */
public Grimpeur() {}
final Spark grimpeur = new Spark(0);
final DigitalInput limit1 = new DigitalInput(0);
public void grimpe(double vitesse){
grimpeur.set(vitesse);
}
final void stop(){
limit1.get();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

39
src/main/java/frc/robot/subsystems/Limelight3.java Normal file
View File

@@ -0,0 +1,39 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import 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.wpilibj2.command.SubsystemBase;
import frc.robot.LimelightHelpers;
public class Limelight3 extends SubsystemBase {
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
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 getX(){
return LimelightHelpers.getTX("limelight-balon");
}
public boolean getV(){
return LimelightHelpers.getTV("limelight-balon");
}
public void Apriltag(){
pipeline.setNumber(1);
}
public void Forme(){
pipeline.setNumber(0);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

28
src/main/java/frc/robot/subsystems/Limelight3G.java Normal file
View File

@@ -0,0 +1,28 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.net.PortForwarder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.LimelightHelpers;
public class Limelight3G extends SubsystemBase {
/** Creates a new Limelight3. */
public Limelight3G() {
for(int port = 5800; port <=5807; port++){
PortForwarder.add(port, "limelight.local", port);
}
}
public double getX(){
return LimelightHelpers.getTX("limelight-tag");
}
public boolean getV(){
return LimelightHelpers.getTV("limelight-tag");
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}