70 Commits

Author SHA1 Message Date
a11f31a2a8 Merge branch 'pince' of https://git.demerso.net/PLS5618/Reefscape-2025 2025-02-24 19:57:40 -05:00
94aae66eed Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025 2025-02-24 19:54:52 -05:00
9f83b61c46 manuel 2025-02-24 19:52:02 -05:00
5d84d83f7d k 2025-02-24 19:13:12 -05:00
87c3abcb65 encodeurs 2025-02-24 18:18:14 -05:00
93e5bb0b46 pince mieux 2025-02-24 18:15:32 -05:00
7be5f8c2fc pince 2025-02-22 14:46:41 -05:00
26d32e3707 amperage 2025-02-22 12:48:56 -05:00
1f4111ef6d id 2025-02-22 11:41:37 -05:00
9ff363dc24 pid 2025-02-22 11:24:07 -05:00
bb9d5a5550 touche 2025-02-22 10:30:20 -05:00
69ef6b6982 pince mieux 2025-02-22 09:55:55 -05:00
0be9356fa9 code mieux 2025-02-20 20:25:59 -05:00
1627770572 code mieux 2025-02-20 20:17:00 -05:00
f10dc1165d sisid manque drive 2025-02-20 19:20:23 -05:00
6ccef6bad9 changement limelight 2025-02-18 18:47:13 -05:00
7cf7483498 limelight 2025-02-17 20:08:21 -05:00
20e54ae142 i 2025-02-17 19:58:42 -05:00
7492e21135 limelight mode auto 2025-02-17 19:27:02 -05:00
71a90cd543 w 2025-02-17 19:18:21 -05:00
32989c510a mode auto reset pose 2025-02-17 19:15:53 -05:00
33badb2f77 update pathplanner et pheonix 2025-02-17 18:49:20 -05:00
d692bab745 limelight 2025-02-17 18:33:49 -05:00
be9f3856f7 limelight marche pas 2025-02-15 12:38:56 -05:00
b1e32bd6df limelight+swerve=marche 2025-02-12 18:40:27 -05:00
590f9556c2 Merge branch 'main' into Limelight 2025-02-12 18:10:37 -05:00
c1bdf0aab7 modif 2025-02-12 16:54:47 -05:00
8bc8f0390f mode auto leds mieux 2025-02-11 19:57:16 -05:00
0e04704942 leds pince 2025-02-11 19:22:25 -05:00
c0c48a3f24 message 2025-02-10 20:00:26 -05:00
cbeb99c1a5 Merge branch 'Swerve' 2025-02-10 20:00:11 -05:00
53adcf5701 Bougie finie 2025-02-10 19:53:34 -05:00
319c370c6e Bougie(pas fini) 2025-02-10 19:49:13 -05:00
2b94ebcc95 Limelight 2025-02-06 19:08:24 -05:00
9796800b4e limelight 2025-02-06 19:02:23 -05:00
cf97a05e6f limelight 2025-02-06 18:56:22 -05:00
6fb4e0c1ac w 2025-02-06 18:04:02 -05:00
9af46de189 oups 2025-02-06 18:03:36 -05:00
451d3c6e20 command -> commands 2025-02-06 17:50:24 -05:00
688315bcd0 Saaaaaaaaaam 2025-02-06 17:46:04 -05:00
2260580c81 marche mieux 2025-02-03 18:37:36 -05:00
9cd08cf07c 2025-02-03 18:32:34 -05:00
8aca411a23 id 2025-02-03 18:26:54 -05:00
44f6030e99 simulation fait 2025-02-03 18:19:29 -05:00
6f75b9cc42 id 2025-02-03 17:51:57 -05:00
210d219793 simulation 2025-02-03 17:49:34 -05:00
06abfa4dbb Named Commands 2025-01-30 20:18:15 -05:00
26a4b9f9a3 touche 2025-01-29 20:15:07 -05:00
b384585224 pince mieux 2025-01-29 20:13:38 -05:00
ee2c9ff4b2 manette 2025-01-29 19:37:35 -05:00
bd180e9153 2025-01-29 19:35:45 -05:00
20c95efe93 2025-01-29 19:35:13 -05:00
4869632d6d manette pince elevateur 2025-01-29 19:29:01 -05:00
afaec61f6d touche pince+elevateur 2025-01-29 19:19:14 -05:00
126058e9d4 touche 2025-01-29 19:01:51 -05:00
1f17aaf4de pince+elevateur 2025-01-29 18:55:06 -05:00
eece0f47fa pince et elevateur 2025-01-29 18:43:31 -05:00
c81f118058 Merge branch 'elevateur' into pince 2025-01-29 18:42:45 -05:00
7848c4aaf2 debug 2025-01-29 18:12:14 -05:00
1d1d6e962d pince 2025-01-28 19:19:34 -05:00
d6420659e9 2025-01-28 19:10:42 -05:00
aafb2a62b5 Algue 2025-01-28 19:09:16 -05:00
0fdfa4269d elevateurise mieux 2025-01-28 18:54:42 -05:00
017f168b3c Pince 2025-01-28 18:46:42 -05:00
bff426ef0f v 2025-01-28 18:29:17 -05:00
5ffa28596c aspire 2025-01-28 18:24:21 -05:00
e7b4b47928 elevateur 2025-01-27 19:51:46 -05:00
0577ce368a positon 2025-01-27 19:26:11 -05:00
7521c0d94e elevateur 2025-01-27 19:15:16 -05:00
b16d11b70a elevateur 2025-01-27 19:11:22 -05:00
42 changed files with 3256 additions and 131 deletions

1
.SysId/sysid.json Normal file
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@ -0,0 +1 @@
{}

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@ -1,4 +1,14 @@
{ {
"Joysticks": {
"window": {
"visible": false
}
},
"System Joysticks": {
"window": {
"enabled": false
}
},
"keyboardJoysticks": [ "keyboardJoysticks": [
{ {
"axisConfig": [ "axisConfig": [

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@ -0,0 +1,126 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasStart"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "path",
"data": {
"pathName": "BlueBasPorter"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher2"
}
},
{
"type": "sequential",
"data": {
"commands": []
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasPorter2"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

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

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@ -4,6 +4,12 @@
"type": "sequential", "type": "sequential",
"data": { "data": {
"commands": [ "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{ {
"type": "path", "type": "path",
"data": { "data": {

File diff suppressed because one or more lines are too long

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@ -8,8 +8,8 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 6.400623816881145, "x": 6.40062663880838,
"y": 1.8077934662846444 "y": 1.8077964923366423
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
@ -33,8 +33,8 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 1.0,
"maxAcceleration": 3.0, "maxAcceleration": 1.0,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@ -50,5 +50,5 @@
"velocity": 0, "velocity": 0,
"rotation": 119.99999999999999 "rotation": 119.99999999999999
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.8820696721311476,
"y": 6.0
},
"prevControl": null,
"nextControl": {
"x": 1.8706512438743716,
"y": 5.690872003047288
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.8820696721311476,
"y": 3.1279999999999997
},
"prevControl": {
"x": 1.8863317961339294,
"y": 3.3779636659576444
},
"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": 0.0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
}

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@ -8,20 +8,20 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 7.084733606557376, "x": 7.119564732833961,
"y": 6.488473360655737 "y": 6.478684258786044
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 5.849999999999999, "x": 5.815652951699465,
"y": 6.464497950819672 "y": 6.464497950819672
}, },
"prevControl": { "prevControl": {
"x": 6.32950819672131, "x": 6.633711863494241,
"y": 6.464497950819672 "y": 6.455611583097
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -33,10 +33,10 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 1.0,
"maxAcceleration": 3.0, "maxAcceleration": 1.0,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 50.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 100.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": false
}, },
@ -50,5 +50,5 @@
"velocity": 0, "velocity": 0,
"rotation": 180.0 "rotation": 180.0
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

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@ -9,12 +9,12 @@
"defaultMaxAngVel": 540.0, "defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0, "defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0, "defaultNominalVoltage": 12.0,
"robotMass": 74.088, "robotMass": 45.3592,
"robotMOI": 6.883, "robotMOI": 6.883,
"robotTrackwidth": 0.546, "robotTrackwidth": 0.546,
"driveWheelRadius": 0.048, "driveWheelRadius": 0.048,
"driveGearing": 5.143, "driveGearing": 5.143,
"maxDriveSpeed": 5.45, "maxDriveSpeed": 5.261,
"driveMotorType": "krakenX60", "driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0, "driveCurrentLimit": 60.0,
"wheelCOF": 1.2, "wheelCOF": 1.2,

File diff suppressed because it is too large Load Diff

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@ -5,31 +5,34 @@
package frc.robot; package frc.robot;
import static edu.wpi.first.units.Units.*; import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt; 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 com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.cameraserver.CameraServer; import com.pathplanner.lib.util.FlippingUtil;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; 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.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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 edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.TunerConstants.TunerConstants; import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
import frc.robot.commands.Forme3;
import frc.robot.commands.RainBow; import frc.robot.commands.RainBow;
import frc.robot.subsystems.Bougie; import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Grimpeur; import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
public class RobotContainer { public class RobotContainer {
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@ -43,18 +46,24 @@ public class RobotContainer {
private final Telemetry logger = new Telemetry(MaxSpeed); private final Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController manette1 = new CommandXboxController(0); private final CommandXboxController manette1 = new CommandXboxController(0);
private final CommandXboxController manette2 = new CommandXboxController(0); private final CommandXboxController manette2 = new CommandXboxController(1);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private final SendableChooser<Command> autoChooser; private final SendableChooser<Command> autoChooser;
Bougie bougie = new Bougie(); Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3();
public RobotContainer() { Pose2d pose = new Pose2d();
private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
}
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto"); autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser); SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings(); configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
} }
private void configureBindings() { private void configureBindings() {
@ -63,31 +72,34 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY(), 0.5)) // Drive forward with negative Y (forward) drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX(), 0.5)) // Drive left with negative X (left) .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.5)) // Drive counterclockwise with negative X (left) .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
) )
); );
// reset the field-centric heading on left bumper press // reset the field-centric heading on left bumper press
manette1.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette1.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette1.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette1.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric())); manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
drivetrain.registerTelemetry(logger::telemeterize); drivetrain.registerTelemetry(logger::telemeterize);
} }
public Command getAutonomousCommand() {
public Command getAutonomousCommand() { return new SequentialCommandGroup(Commands.runOnce(()->{
return boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
new if(flip){
ParallelCommandGroup( drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
autoChooser }
.getSelected(), else{
new drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
RainBow }
( }),autoChooser.getSelected(), new RainBow(bougie));
bougie }
)
);
}
} }

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@ -23,15 +23,19 @@ public class TunerConstants {
// The steer motor uses any SwerveModule.SteerRequestType control request with the // The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains = new Slot0Configs() //private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(100).withKI(0).withKD(0.5) // .withKP(68.294).withKI(0).withKD(4.7806)
.withKS(0.1).withKV(2.66).withKA(0) // .withKS(0.20754).withKV(2.4832).withKA(0.099824)
// .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(43.502).withKI(0).withKD(2.7353)
.withKS(0.027275).withKV(2.5818).withKA(0.1055)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
// When using closed-loop control, the drive motor uses the control // When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs driveGains = new Slot0Configs() private static final Slot0Configs driveGains = new Slot0Configs()
.withKP(0.1).withKI(0).withKD(0) .withKP(63.167).withKI(0).withKD(0.54521)
.withKS(0).withKV(0.124); .withKS(0.18227).withKV(0.12483);
// The closed-loop output type to use for the steer motors; // The closed-loop output type to use for the steer motors;
// This affects the PID/FF gains for the steer motors // This affects the PID/FF gains for the steer motors

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@ -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.Pince;
/* 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 Algue1Test extends Command {
private Pince pince;
/** Creates a new AlgueTest. */
public Algue1Test(Pince pince) {
this.pince = pince;
addRequirements(pince);
// 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() {
pince.algue1Test(0.2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.algue1Test(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -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.Pince;
/* 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 Algue2Test extends Command {
private Pince pince;
/** Creates a new AlgueTest. */
public Algue2Test(Pince pince) {
this.pince = pince;
addRequirements(pince);
// 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() {
pince.algue2Test(0.2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.algue2Test(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Pince;
/* 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 AlgueExpire extends Command {
private Pince pince;
private Bougie bougie;
/** Creates a new CoralAlgue. */
public AlgueExpire(Pince pince,Bougie bougie) {
this.pince = pince;
this.bougie = bougie;
addRequirements(pince,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(pince.emperagealgue()>60){
pince.aspirealgue(-0.5);
}
else{
pince.aspirealgue(-0.5);
bougie.Jaune();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.aspirealgue(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
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 */
public class AprilTag3 extends Command {
private Limelight3 limelight3;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
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 DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.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) {
this.limelight3 = limelight3;
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3,drivetrain);
// 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() {
double a = limelight3.getX();
if(limelight3.getV() == true){
drivetrain.setControl(drive.
withRotationalRate(a/10).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/10);
}
else{
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.setControl(drive.
withRotationalRate(0)
.withVelocityX(0)
.withVelocityY(0));
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
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;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
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 DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.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. */
/** Creates a new AprilTag3G. */
public AprilTag3G(Limelight3G limelight3g,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3g = limelight3g;
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3g,drivetrain);
// 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() {
double a = limelight3g.getX();
if(limelight3g.getV() == true){
drivetrain.setControl(drive.
withRotationalRate(-a/5).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/5);
}
else{
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return limelight3g.getX()<1 && limelight3g.getX()>-1;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
/* 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 CorailAspir extends Command {
/** Creates a new CorailAspir. */
private Pince pince;
public CorailAspir(Pince pince) {
// Use addRequirements() here to declare subsystem dependencies.
this.pince = pince;
addRequirements(pince);
}
// 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() {
pince.aspirecoral(0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.aspirecoral(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
/* 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 CorailTest extends Command {
private Pince pince;
/** Creates a new AlgueTest. */
public CorailTest(Pince pince) {
this.pince = pince;
addRequirements(pince);
// 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() {
pince.aspirecoral(0.2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.aspirecoral(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Pince;
/* 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 CoralAlgueInspire extends Command {
private Pince pince;
private Bougie bougie;
/** Creates a new CoralAlgue. */
public CoralAlgueInspire(Pince pince, Bougie bougie) {
this.pince = pince;
this.bougie = bougie;
addRequirements(pince,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() {
pince.aspirecoral(-.5);
if(pince.emperagealgue()>60){
pince.aspirealgue(0);
bougie.Bleu();
}
else{
pince.aspirealgue(0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.aspirecoral(0);
pince.aspirealgue(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
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 CoralExpire extends Command {
private Pince pince;
Bougie bougie;
/** Creates a new CoralAlgue. */
public CoralExpire(Pince pince, Bougie bougie) {
this.pince = pince;
this.bougie = bougie;
addRequirements(pince,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(pince.emperagecoral() > 60){
// pince.aspirecoral(0);
//}
//else{
pince.aspirecoral(-.5);
//bougie.Jaune();
// }
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.aspirecoral(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
/* 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;
private Pince pince;
/** Creates a new L2. */
public Depart(Elevateur elevateur, Pince pince) {
this.pince = pince;
this.elevateur = elevateur;
addRequirements(elevateur,pince);
// 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);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.limit2()==true;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
/* 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 DepartPince extends Command {
private Pince pince;
/** Creates a new DepartPince. */
public DepartPince(Pince pince) {
this.pince = pince;
addRequirements(pince);
// 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(pince.position()==true){
pince.pivote(0);
pince.reset();
}
else{
pince.pivote(.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.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()/7);
}
// 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;
}
}

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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.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
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 */
public class Forme3 extends Command {
private Limelight3 limelight3;
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 CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.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 Forme3. */
public Forme3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3 = limelight3;
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3,drivetrain);
// 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() {
double a = limelight3.getX();
if(limelight3.getV() == true){
drivetrain.setControl(drive.
withRotationalRate(a/10).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/10);
}
else{
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
/* 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;
private Pince pince;
/** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
// 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);
}
if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=510){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
/* 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;
private Pince pince;
/** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
// 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);
}
if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=710){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
/* 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;
private Pince pince;
/** Creates a new L2. */
public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
// 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()<=809){
elevateur.vitesse(0);
}
else if(elevateur.position()>=810){
elevateur.vitesse(0.5);
}
else{
elevateur.vitesse(.5);
}
if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=810){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -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.Pince;
/* 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 PinceManuel extends Command {
private Pince pince;
/** Creates a new PinceManuel. */
public PinceManuel(Pince pince
//, DoubleSupplier doubleSupplier
) {
this.pince = pince;
//this.doubleSupplier = doubleSupplier;
addRequirements(pince);
// 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(pince.position()){
// pince.pivote(0);
// }
// else{
pince.pivote(0.2);
// }
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -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.Pince;
/* 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 PinceManuel2 extends Command {
private Pince pince;
//private DoubleSupplier doubleSupplier;
/** Creates a new PinceManuel. */
public PinceManuel2(Pince pince
//,DoubleSupplier doubleSupplier
) {
this.pince = pince;
// this.doubleSupplier = doubleSupplier;
addRequirements(pince);
// 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() {
pince.pivote(-0.2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -0,0 +1,64 @@
// 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;
import frc.robot.subsystems.Pince;
/* 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 StationPince extends Command {
private Pince pince;
private Elevateur elevateur;
/** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(pince,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() {
pince.aspirecoral(0.5);
if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=910){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
if(elevateur.position()>=400 && elevateur.position()<=410){
elevateur.vitesse(0);
}
else if(elevateur.position()>=410){
elevateur.vitesse(0.3);
}
else{
elevateur.vitesse(-.3);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.pivote(0);
pince.aspirecoral(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -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.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 reset extends Command {
/** Creates a new reset. */
private Elevateur elevateur;
public reset(Elevateur elevateur) {
// Use addRequirements() here to declare subsystem dependencies.
this.elevateur = elevateur;
addRequirements(elevateur);
}
// 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() {
elevateur.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;
}
}

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@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Bougie extends SubsystemBase { public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(5); CANdle candle = new CANdle(23);
CANdleConfiguration config = new CANdleConfiguration(); CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
/** Creates a new Bougie. */ /** Creates a new Bougie. */
@ -20,14 +20,29 @@ public class Bougie extends SubsystemBase {
candle.configAllSettings(config); candle.configAllSettings(config);
} }
public void Rouge() { public void Rouge() {
candle.setLEDs(255, 0, 0); candle.setLEDs(255, 0, 0,0,8,8);
candle.setLEDs(255, 0, 0,0,24,8);
candle.setLEDs(255, 0, 0,0,40,8);
candle.setLEDs(255, 0, 0,0,56,8);
} }
public void Vert() { public void Vert() {
candle.setLEDs(0, 255, 0); candle.setLEDs(0, 255, 0,0,8,8);
candle.setLEDs(0, 255, 0,0,24,8);
candle.setLEDs(0, 255, 0,0,40,8);
candle.setLEDs(0, 255, 0,0,56,8);
} }
public void Bleu() { public void Bleu() {
candle.setLEDs(0, 0, 255); candle.setLEDs(0, 0, 255,0,16,8);
candle.setLEDs(0, 0, 255,0,32,8);
candle.setLEDs(0, 0, 255,0,48,8);
candle.setLEDs(0, 0, 255,0,64,8);
} }
public void Jaune() {
candle.setLEDs(255, 215, 0,0,16,8);
candle.setLEDs(255, 215, 0,0,32,8);
candle.setLEDs(255, 215, 0,0,48,8);
candle.setLEDs(255, 215, 0,0,64,8);
}
public void RainBow(){candle.animate(rainbowAnim);} public void RainBow(){candle.animate(rainbowAnim);}
public void RainBowStop(){candle.animate(null);} public void RainBowStop(){candle.animate(null);}
@Override @Override
@ -35,4 +50,3 @@ public class Bougie extends SubsystemBase {
// This method will be called once per scheduler run // This method will be called once per scheduler run
} }
} }

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@ -3,18 +3,15 @@ package frc.robot.subsystems;
import static edu.wpi.first.units.Units.*; import static edu.wpi.first.units.Units.*;
import java.util.function.Supplier; import java.util.function.Supplier;
import com.ctre.phoenix6.SignalLogger; import com.ctre.phoenix6.SignalLogger;
import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants;
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.config.PIDConstants; import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig; import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController; import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N1;
@ -30,7 +27,7 @@ import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
/** /**
* Class that extends the Phoenix 6 SwerveDrivetrain class and implements * Class that extends the Phoenix 6 SwerveDrivetrain class and implements
* Subsystem so it can easily be used in command-based projects. * Subsystem so it can easily be used in command-based projeScts.
*/ */
public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem { public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
@ -53,6 +50,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation(); private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */ /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine( private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config( new SysIdRoutine.Config(
null, // Use default ramp rate (1 V/s) null, // Use default ramp rate (1 V/s)
@ -126,9 +124,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
), ),
new PPHolonomicDriveController( new PPHolonomicDriveController(
// PID constants for translation // PID constants for translation
new PIDConstants(10, 0, 0), new PIDConstants(63.167, 0, 0.54521),
// PID constants for rotation // PID constants for rotation
new PIDConstants(7, 0, 0) new PIDConstants(7.9735, 0, 0.038499)
), ),
config, config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case // Assume the path needs to be flipped for Red vs Blue, this is normally the case
@ -138,10 +136,13 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
} catch (Exception ex) { } catch (Exception ex) {
DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace()); DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
} }
} PPHolonomicDriveController.overrideRotationFeedback(()->{
return 0;
});
}
/* The SysId routine to test */ /* The SysId routine to test */
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation; private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
/** /**
* Constructs a CTRE SwerveDrivetrain using the specified constants. * Constructs a CTRE SwerveDrivetrain using the specified constants.
@ -255,7 +256,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public Command sysIdDynamic(SysIdRoutine.Direction direction) { public Command sysIdDynamic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.dynamic(direction); return m_sysIdRoutineToApply.dynamic(direction);
} }
@Override @Override
public void periodic() { public void periodic() {
/* /*

View File

@ -0,0 +1,37 @@
// 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.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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(1);
GenericEntry teb = Shuffleboard.getTab("teb")
.add("elevateur encodeur",position())
.getEntry();
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
}
}

View File

@ -1,26 +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.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
}
}

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@ -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
}
}

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@ -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
}
}

View File

@ -0,0 +1,61 @@
// 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.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Pince extends SubsystemBase {
/** Creates a new Pince. */
public Pince() {}
final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
final DigitalInput limit6 = new DigitalInput(0);
GenericEntry teb = Shuffleboard.getTab("teb")
.add("pince encodeur",encodeurpivot())
.getEntry();
public void aspirecoral(double vitesse){
coral.set(vitesse);
}
public void pivote(double vitesse){
pivoti.set(vitesse);
}
public void aspirealgue(double vitesse){
algue2.set(vitesse);
algue1.set(-vitesse);
}
public double encodeurpivot(){
return pivoti.getEncoder().getPosition();
}
public boolean position(){
return limit6.get();
}
public void reset(){
pivoti.getEncoder().setPosition(0);
}
public double emperagecoral(){
return coral.getOutputCurrent();
}
public double emperagealgue(){
return algue1.getOutputCurrent();
}
public void algue1Test(double vitesse){
algue1.set(vitesse);
}
public void algue2Test(double vitesse){
algue2.set(vitesse);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

View File

@ -1,7 +1,7 @@
{ {
"fileName": "PathplannerLib-2025.2.2.json", "fileName": "PathplannerLib-2025.2.3.json",
"name": "PathplannerLib", "name": "PathplannerLib",
"version": "2025.2.2", "version": "2025.2.3",
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
"frcYear": "2025", "frcYear": "2025",
"mavenUrls": [ "mavenUrls": [
@ -12,7 +12,7 @@
{ {
"groupId": "com.pathplanner.lib", "groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java", "artifactId": "PathplannerLib-java",
"version": "2025.2.2" "version": "2025.2.3"
} }
], ],
"jniDependencies": [], "jniDependencies": [],
@ -20,7 +20,7 @@
{ {
"groupId": "com.pathplanner.lib", "groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp", "artifactId": "PathplannerLib-cpp",
"version": "2025.2.2", "version": "2025.2.3",
"libName": "PathplannerLib", "libName": "PathplannerLib",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": false, "sharedLibrary": false,

View File

@ -1,7 +1,7 @@
{ {
"fileName": "Phoenix6-25.2.1.json", "fileName": "Phoenix6-25.2.2.json",
"name": "CTRE-Phoenix (v6)", "name": "CTRE-Phoenix (v6)",
"version": "25.2.1", "version": "25.2.2",
"frcYear": "2025", "frcYear": "2025",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [ "mavenUrls": [
@ -19,14 +19,14 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java", "artifactId": "wpiapi-java",
"version": "25.2.1" "version": "25.2.2"
} }
], ],
"jniDependencies": [ "jniDependencies": [
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp", "artifactId": "api-cpp",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -40,7 +40,7 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "tools", "artifactId": "tools",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -54,7 +54,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim", "artifactId": "api-cpp-sim",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -68,7 +68,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim", "artifactId": "tools-sim",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -82,7 +82,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX", "artifactId": "simTalonSRX",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -96,7 +96,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX", "artifactId": "simVictorSPX",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -110,7 +110,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU", "artifactId": "simPigeonIMU",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -124,7 +124,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder", "artifactId": "simCANCoder",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -138,7 +138,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX", "artifactId": "simProTalonFX",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -152,7 +152,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS", "artifactId": "simProTalonFXS",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -166,7 +166,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder", "artifactId": "simProCANcoder",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -180,7 +180,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2", "artifactId": "simProPigeon2",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -194,7 +194,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange", "artifactId": "simProCANrange",
"version": "25.2.1", "version": "25.2.2",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -210,7 +210,7 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp", "artifactId": "wpiapi-cpp",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_Phoenix6_WPI", "libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -226,7 +226,7 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "tools", "artifactId": "tools",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_PhoenixTools", "libName": "CTRE_PhoenixTools",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -242,7 +242,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim", "artifactId": "wpiapi-cpp-sim",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_Phoenix6_WPISim", "libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -258,7 +258,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim", "artifactId": "tools-sim",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_PhoenixTools_Sim", "libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -274,7 +274,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX", "artifactId": "simTalonSRX",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimTalonSRX", "libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -290,7 +290,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX", "artifactId": "simVictorSPX",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimVictorSPX", "libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -306,7 +306,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU", "artifactId": "simPigeonIMU",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimPigeonIMU", "libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -322,7 +322,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder", "artifactId": "simCANCoder",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimCANCoder", "libName": "CTRE_SimCANCoder",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -338,7 +338,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX", "artifactId": "simProTalonFX",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimProTalonFX", "libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -354,7 +354,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS", "artifactId": "simProTalonFXS",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimProTalonFXS", "libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -370,7 +370,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder", "artifactId": "simProCANcoder",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimProCANcoder", "libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -386,7 +386,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2", "artifactId": "simProPigeon2",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimProPigeon2", "libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -402,7 +402,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange", "artifactId": "simProCANrange",
"version": "25.2.1", "version": "25.2.2",
"libName": "CTRE_SimProCANrange", "libName": "CTRE_SimProCANrange",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,