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7 Commits
Led ... elevateur

Author SHA1 Message Date
Antoine PerreaultE
36456f1fe4 id 2025-02-22 12:50:18 -05:00
Antoine PerreaultE
0567735a6f command -> commands 2025-02-06 17:51:18 -05:00
Antoine PerreaultE
0fdfa4269d elevateurise mieux 2025-01-28 18:54:42 -05:00
Antoine PerreaultE
e7b4b47928 elevateur 2025-01-27 19:51:46 -05:00
Antoine PerreaultE
0577ce368a positon 2025-01-27 19:26:11 -05:00
Antoine PerreaultE
7521c0d94e elevateur 2025-01-27 19:15:16 -05:00
Antoine PerreaultE
b16d11b70a elevateur 2025-01-27 19:11:22 -05:00
32 changed files with 308 additions and 1839 deletions
Expand all files Collapse all files

57
src/main/deploy/pathplanner/autos/BlueBas1.auto
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@@ -1,57 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasStart"
}
},
{
"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,
"choreoAuto": false
}

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

@@ -1,151 +0,0 @@
{
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"command": {
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{
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{
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{
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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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{
"type": "named",
"data": {
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{
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{
"type": "named",
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{
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{
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}

57
src/main/deploy/pathplanner/autos/BlueHaut1.auto
View File

@@ -1,57 +0,0 @@
{
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"data": {
"pathName": "BlueHautStart"
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{
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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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245
src/main/deploy/pathplanner/autos/BlueHaut3.auto
View File

@@ -1,245 +0,0 @@
{
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"choreoAuto": false
}

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
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54
src/main/deploy/pathplanner/paths/BlueHautChercher.path
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@@ -1,54 +0,0 @@
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54
src/main/deploy/pathplanner/paths/BlueHautChercher2.path
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@@ -1,54 +0,0 @@
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54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
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@@ -1,54 +0,0 @@
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54
src/main/deploy/pathplanner/paths/BlueHautPorter2.path
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@@ -1,54 +0,0 @@
{
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54
src/main/deploy/pathplanner/paths/BlueHautStart.path
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@@ -1,54 +0,0 @@
{
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54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
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@@ -1,54 +0,0 @@
{
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},
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"folder": null,
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54
src/main/deploy/pathplanner/paths/Sortir.path
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@@ -1,54 +0,0 @@
{
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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
}
}

43
src/main/java/frc/robot/RobotContainer.java
View File

@@ -4,46 +4,17 @@
package frc.robot; 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.Command;
import edu.wpi.first.wpilibj2.command.Commands; 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 { public class RobotContainer {
public RobotContainer() {
configureBindings();
}
private final CommandXboxController joystick = new CommandXboxController(0); private void configureBindings() {}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
public RobotContainer() {
configureBindings();
}
private void configureBindings() {
}
public Command getAutonomousCommand() {
return Commands.print("");
}
} }

47
src/main/java/frc/robot/commands/Depart.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.Elevateur;
/* 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 Depart extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public Depart(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.limit2()==true){
elevateur.vitesse(0);
elevateur.reset();
}
else{
elevateur.vitesse(-.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.limit2()==true;
}
}

48
src/main/java/frc/robot/commands/ElevateurManuel.java Normal file
View File

@@ -0,0 +1,48 @@
// 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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
/* 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 ElevateurManuel extends Command {
private DoubleSupplier doubleSupplier;
private Elevateur elevateur;
/** Creates a new ElevateurManuel. */
public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
this.doubleSupplier = doubleSupplier;
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.limit2()==true){
elevateur.vitesse(0);
}
elevateur.vitesse(doubleSupplier.getAsDouble());
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

50
src/main/java/frc/robot/commands/L2.java Normal file
View File

@@ -0,0 +1,50 @@
// 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.Elevateur;
/* 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 L2 extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public L2(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.position()>=500 && elevateur.position()<=510){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
elevateur.vitesse(-0.3);
}
else{
elevateur.vitesse(.3);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

49
src/main/java/frc/robot/commands/L3.java Normal file
View File

@@ -0,0 +1,49 @@
// 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.Elevateur;
/* 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 L3 extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public L3(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.position()>=700 && elevateur.position()<=710){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

49
src/main/java/frc/robot/commands/L4.java Normal file
View File

@@ -0,0 +1,49 @@
// 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.Elevateur;
/* 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 L4 extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public L4(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.position()>=800 && elevateur.position()<=810){
elevateur.vitesse(0);
}
else if(elevateur.position()>=810){
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.position()>=800;
}
}

32
src/main/java/frc/robot/subsystems/Elevateur.java Normal file
View File

@@ -0,0 +1,32 @@
// 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.wpilibj2.command.SubsystemBase;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
public class Elevateur extends SubsystemBase {
/** Creates a new Elevateur. */
public Elevateur() {}
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(0);
public double position(){
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
monte.set(vitesse);
}
public boolean limit2(){
return limit2.get();
}
public void reset(){
monte.getEncoder().setPosition(0);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

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