PLS5618/Reefscape-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: PLS5618:Led
Branches Tags
PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led
..
compare: PLS5618:grimpe
Branches Tags
PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

26 Commits
Led ... grimpe

Author SHA1 Message Date
Antoine PerreaultE
63e476c64e Grimpeur, Fonctionne 2025-02-26 19:09:33 -05:00
Antoine PerreaultE
9b86a0b975 limit avec grimpeur manuel 2025-02-26 17:23:27 -05:00
Antoine PerreaultE
77240d255e grimpeur manuel 2025-02-26 16:58:50 -05:00
Antoine PerreaultE
7ffeb78c35 grimpeur manuel 2025-02-26 16:57:51 -05:00
Antoine PerreaultE
5b80c53963 grimpeur manuel 2025-02-26 16:56:38 -05:00
Antoine PerreaultE
476df088ea grimpeur manuel 2025-02-26 16:54:56 -05:00
Antoine PerreaultE
cfc6ba9479 grimpeur manuel 2025-02-26 16:53:12 -05:00
Antoine PerreaultE
583413ec5f id 2025-02-22 11:44:53 -05:00
Antoine PerreaultE
eb141ac2ba leds 2025-02-17 18:45:04 -05:00
Antoine PerreaultE
3669e079bd command -> commands 2025-02-06 17:49:41 -05:00
Antoine PerreaultE
0f81dd39e9 ils ont amener le deux par quatre 2025-02-03 18:52:32 -05:00
Antoine PerreaultE
a984625e17 marche 2025-02-03 18:48:23 -05:00
Antoine PerreaultE
a54ebb16e9 id 2025-02-03 18:39:16 -05:00
Antoine PerreaultE
6437b9f152 id 2025-02-03 18:35:44 -05:00
Antoine PerreaultE
7be1b69ece id 2025-02-03 18:31:31 -05:00
Antoine PerreaultE
d44aea512d id 2025-02-03 18:27:30 -05:00
Antoine PerreaultE
8a7f10ec64 id 2025-02-03 18:24:08 -05:00
Antoine PerreaultE
345eb83d39 id 2025-02-03 18:23:17 -05:00
Antoine PerreaultE
f01f327c81 id 2025-02-03 18:22:01 -05:00
Antoine PerreaultE
0c7cfc9d4c id 2025-02-03 18:20:20 -05:00
Antoine PerreaultE
831b9fec75 Touche grinpeur 2025-01-29 19:51:59 -05:00
Antoine PerreaultE
982db16833 grimpeMieux 2025-01-28 19:22:43 -05:00
Antoine PerreaultE
12b5e6954e 2025-01-28 18:31:02 -05:00
Antoine PerreaultE
7e40328af4 il grimpe mieux 2025-01-28 17:51:17 -05:00
Antoine PerreaultE
9653ca7205 grimpe 2025-01-27 19:12:49 -05:00
Antoine PerreaultE
1583a95f52 il grimpe 2025-01-27 18:40:58 -05:00
32 changed files with 407 additions and 1804 deletions
Expand all files Collapse all files

97
simgui-ds.json Normal file
View File

@ -0,0 +1,97 @@
{
"System Joysticks": {
"window": {
"enabled": false
}
},
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
]
}

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

@ -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 @@
{
"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"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "Station"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "path",
"data": {
"pathName": "BlueBasPorter"
}
},
{
"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
}

245
src/main/deploy/pathplanner/autos/BlueBas3.auto
View File

@ -1,245 +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"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "Station"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "path",
"data": {
"pathName": "BlueBasPorter"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "L4"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher2"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "CoralInspire"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasPorter2"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

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

@ -1,57 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"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,
"choreoAuto": false
}

151
src/main/deploy/pathplanner/autos/BlueHaut2.auto
View File

@ -1,151 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"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"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueHautChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "Station"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "path",
"data": {
"pathName": "BlueHautPorter"
}
},
{
"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
}

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

@ -1,245 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"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"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueHautChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "Station"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "path",
"data": {
"pathName": "BlueHautPorter"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "L4"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueHautChercher2"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "Station"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueHautPorter2"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "L4"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

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

@ -1,87 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueMilieuStart"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "L4"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "CoralExpire"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "L3"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "named",
"data": {
"name": "CoraletAlgue"
}
}
]
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

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

@ -1,57 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueMilieuStart"
}
},
{
"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
}

19
src/main/deploy/pathplanner/autos/Sortir.auto
View File

@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Sortir"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

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 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.226639344262295,
"y": 2.748309426229507
},
"prevControl": null,
"nextControl": {
"x": 4.699180327868851,
"y": 2.1728995901639334
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.296618852459016,
"y": 1.6334528688524586
},
"prevControl": {
"x": 4.5553278688524586,
"y": 1.9091700819672122
},
"nextControl": {
"x": 2.853313965378558,
"y": 1.5363479888253109
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2227459016393443,
"y": 1.141956967213115
},
"prevControl": {
"x": 2.2217919676666584,
"y": 1.3902362024139756
},
"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": -125.00000000000001
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 119.99999999999999
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/BlueBasChercher2.path
View File

@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.7761270491803276,
"y": 2.7602971311475404
},
"prevControl": null,
"nextControl": {
"x": 3.152766393442623,
"y": 1.2138831967213104
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.1987704918032787,
"y": 1.153944672131147
},
"prevControl": {
"x": 2.049897540983607,
"y": 1.1899077868852443
},
"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": -125.00000000000001
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 59.99999999999999
},
"useDefaultConstraints": true
}

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

@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.1987704918032787,
"y": 1.153944672131147
},
"prevControl": null,
"nextControl": {
"x": 2.1697745901639345,
"y": 1.0820184426229504
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.788114754098361,
"y": 2.7722848360655736
},
"prevControl": {
"x": 3.5483606557377048,
"y": 1.1899077868852452
},
"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": 59.99999999999999
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -125.00000000000001
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/BlueBasPorter2.path
View File

@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.2107581967213117,
"y": 1.141956967213115
},
"prevControl": null,
"nextControl": {
"x": 3.392520491803279,
"y": 1.7293545081967203
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.9969262295081966,
"y": 4.019006147540983
},
"prevControl": {
"x": 1.738217213114754,
"y": 3.5035348360655734
},
"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/BlueBasStart.path
View File

@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.204610655737704,
"y": 1.058043032786885
},
"prevControl": null,
"nextControl": {
"x": 6.400623816881145,
"y": 1.8077934662846444
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.214651639344262,
"y": 2.7722848360655736
},
"prevControl": {
"x": 6.021565749152438,
"y": 2.0272293626478377
},
"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
}

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

@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.262602459016393,
"y": 5.33765368852459
},
"prevControl": null,
"nextControl": {
"x": 4.567315573770491,
"y": 6.272694672131147
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.3066598360655735,
"y": 6.920030737704917
},
"prevControl": {
"x": 2.074600566094311,
"y": 6.608197684403563
},
"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": 125.00000000000001
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -119.99999999999999
},
"useDefaultConstraints": true
}

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,
"nextControl": {
"x": 3.6884488572050125,
"y": 5.738000701502482
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2946721311475409,
"y": 6.88406762295082
},
"prevControl": {
"x": 1.5370661625758562,
"y": 6.822870126858832
},
"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": 125.00000000000001
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -59.99999999999999
},
"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
},
"prevControl": null,
"nextControl": {
"x": 1.8197466808473133,
"y": 6.152201615570423
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.7401639344262296,
"y": 5.313678278688524
},
"prevControl": {
"x": 2.9533875048545335,
"y": 6.158498893994983
},
"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": -59.99999999999999
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 125.00000000000001
},
"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,
"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
}

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": []
}

70
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,46 +4,42 @@
package frc.robot; package frc.robot;
import static edu.wpi.first.units.Units.*; import edu.wpi.first.math.MathUtil;
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.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction; import frc.robot.commands.GrimperHaut;
import frc.robot.commands.GrimpeurBas;
import frc.robot.commands.GrimpeurManuel;
import frc.robot.commands.ResetGrimpeur;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Grimpeur;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
Grimpeur grimpeur = new Grimpeur();
Bougie bougie = new Bougie();
GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette2::getLeftY);
public RobotContainer() {
grimpeur.setDefaultCommand(new RunCommand(()->{
if(grimpeur.stop()){
grimpeur.grimpe(0);
}
else{
grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}}, grimpeur));
configureBindings();
}
private void configureBindings() {
manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
}
private final CommandXboxController joystick = new CommandXboxController(0); public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
}
public RobotContainer() {
configureBindings();
}
private void configureBindings() {
}
public Command getAutonomousCommand() {
return Commands.print("");
}
}

56
src/main/java/frc/robot/commands/GrimperHaut.java Normal file
View File

@ -0,0 +1,56 @@
// 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.Bougie;
import frc.robot.subsystems.Grimpeur;
/* 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 GrimperHaut extends Command {
private Grimpeur grimpeur;
private Bougie bougie;
/** Creates a new Grimper. */
public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
this.grimpeur = grimpeur;
this.bougie = bougie;
addRequirements(grimpeur,bougie);
// 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(grimpeur.stop()==true){
grimpeur.grimpe(0);
grimpeur.reset();
bougie.RainBow();
}
else{
grimpeur.grimpe(0.5);
bougie.RainBowStop();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.grimpe(0);
if(grimpeur.stop()){
bougie.RainBow();
}
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return grimpeur.stop()==true;
}
}

48
src/main/java/frc/robot/commands/GrimpeurBas.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 edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Grimpeur;
/* 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 GrimpeurBas extends Command {
private Grimpeur grimpeur;
/** Creates a new GrimpeurBas. */
public GrimpeurBas(Grimpeur grimpeur) {
this.grimpeur = grimpeur;
addRequirements(grimpeur);
// 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(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
grimpeur.grimpe(0);
}
else if(grimpeur.encodeur()>=-38.5){
grimpeur.grimpe(-0.5);
}
else{grimpeur.grimpe(0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.grimpe(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

51
src/main/java/frc/robot/commands/GrimpeurManuel.java Normal file
View File

@ -0,0 +1,51 @@
// 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.Grimpeur;
/* 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 GrimpeurManuel extends Command {
private Grimpeur grimpeur;
private DoubleSupplier x;
/** Creates a new GrimpeurManuel. */
public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
this.grimpeur = grimpeur;
this.x = x;
addRequirements(grimpeur);
// 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(grimpeur.stop()){
grimpeur.grimpe(0);
}
else{
grimpeur.grimpe(x.getAsDouble());
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.grimpe(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/RainBow.java Normal file
View File

@ -0,0 +1,41 @@
// 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.Bougie;
/* 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 RainBow extends Command {
/** Creates a new RainBow. */
private Bougie bougie;
public RainBow(Bougie bougie) {
this.bougie = bougie;
addRequirements(bougie);
// 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() {
bougie.RainBow();
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
bougie.RainBowStop();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

39
src/main/java/frc/robot/commands/ResetGrimpeur.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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Grimpeur;
/* 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 ResetGrimpeur extends Command {
private Grimpeur grimpeur;
/** Creates a new ResetGrimpeur. */
public ResetGrimpeur(Grimpeur grimpeur) {
this.grimpeur = grimpeur;
addRequirements(grimpeur);
// 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() {
grimpeur.reset();
}
// 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;
}
}

3
src/main/java/frc/robot/Bougie.java → src/main/java/frc/robot/subsystems/Bougie.java
View File

@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of // 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. // the WPILib BSD license file in the root directory of this project.
package frc.robot; package frc.robot.subsystems;
import com.ctre.phoenix.led.CANdle; import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.CANdleConfiguration; import com.ctre.phoenix.led.CANdleConfiguration;
@ -29,6 +29,7 @@ public class Bougie extends SubsystemBase {
candle.setLEDs(0, 0, 255); candle.setLEDs(0, 0, 255);
} }
public void RainBow(){candle.animate(rainbowAnim);} public void RainBow(){candle.animate(rainbowAnim);}
public void RainBowStop(){candle.animate(null);}
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run

40
src/main/java/frc/robot/subsystems/Grimpeur.java Normal file
View File

@ -0,0 +1,40 @@
// 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 com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */
ShuffleboardTab teb = Shuffleboard.getTab("teb");
public Grimpeur() {
teb.addBoolean("limit grimpeur", this::stop);
teb.addDouble("encodeur grimpeur", this::encodeur);
}
final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
final DigitalInput limit1 = new DigitalInput(2);
public void grimpe(double vitesse){
grimpeur.set(vitesse);
}
public boolean stop(){
return limit1.get();
}
public double encodeur(){
return grimpeur.getEncoder().getPosition();
}
public void reset(){
grimpeur.getEncoder().setPosition(0);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}