src/main/java/frc/robot/RobotContainer.java

@@ -19,7 +19,6 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -61,10 +60,10 @@ import frc.robot.commands.Elevateur.balonL3;
 public class RobotContainer {
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
     .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
-  GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L1 = layoutauto.add("choix L1",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry sortirAngle = layoutauto.add("Cote?",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry sortirAngle = layoutauto.add("Cote?",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry Reculer = layoutauto.add("Reculer",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry Reculer = layoutauto.add("Reculer",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry L4 = layoutauto.add("L4",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L4 = layoutauto.add("L4",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -79,6 +78,7 @@ public class RobotContainer {
   private final CommandXboxController manette2 = new CommandXboxController(1);
   private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  //private final SendableChooser<Command> autoChooser;
   public double getAngle() {
     return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
   }
@@ -160,24 +160,24 @@ public class RobotContainer {
         drivetrain.applyRequest(()->
         drive.withVelocityX(-0.1*MaxSpeed)
        .withVelocityY(0)
-       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3.5),
+       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(2),
       drivetrain.applyRequest(()->
-         drive.withVelocityX(0.1*MaxSpeed)
+      drive.withVelocityX(0.5*MaxSpeed)
      .withVelocityY(0)
-        .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3.5),
+     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
      drivetrain.applyRequest(()->
-     drive.withVelocityX(-0.1*MaxSpeed)
+     drive.withVelocityX(-0.5*MaxSpeed)
     .withVelocityY(0)
-    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(3),
+    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2),
        drivetrain.applyRequest(()->
         drive.withVelocityX(0)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(0.1),
         new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
         drivetrain.applyRequest(()->
-        drive.withVelocityX(0.1*MaxSpeed)
+        drive.withVelocityX(0.2*MaxSpeed)
        .withVelocityY(0)
-       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.25),
+       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5),
        drivetrain.applyRequest(()->
        drive.withVelocityX(0*MaxSpeed)
       .withVelocityY(0)

src/main/java/frc/robot/commands/Elevateur/L2.java

@@ -26,10 +26,10 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
+     if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){
        pince.pivote(0);
      }
-     else if(pince.encodeurpivot()>=15){
+     else if(pince.encodeurpivot()>=14){
        pince.pivote(-0.2);
      }
      else{

src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java

@@ -27,8 +27,8 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double cibleMin = 550;
+    double cibleMin = 700;
-    double cibleMax = 650;
+    double cibleMax = 900;
 
      if(requin.amp()>=78.2){
        requin.xRequin = true;

src/main/java/frc/robot/commands/requin/ExpireCorail.java

@@ -28,12 +28,12 @@ public class ExpireCorail extends Command {
   @Override
   public void execute() {
     if(requin.amp()> 60){
-      requin.balaye(-0.2);
+      requin.balaye(-0.4);
     }
     else
     {
     bougie.Rouge();
-    requin.balaye(-0.2);   
+    requin.balaye(-0.4);   
   }
 }
 

src/main/java/frc/robot/commands/requin/L1Requin.java

@@ -27,10 +27,10 @@ public class L1Requin extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.encodeur()<=485 &&  requin.encodeur()>=385){
+    if(requin.encodeur()<=530 &&  requin.encodeur()>=430){
       requin.rotationer(0);
     }
-    else if(requin.encodeur()>=485){
+    else if(requin.encodeur()>=530){
     requin.rotationer(-0.5);
     }
     else{

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -45,42 +45,42 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
     private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
 
-    // private void configureAutoBuilder() {
+    private void configureAutoBuilder() {
-    //     try {
+        try {
-    //         var config = RobotConfig.fromGUISettings();
+            var config = RobotConfig.fromGUISettings();
-    //         AutoBuilder.configure(
+            AutoBuilder.configure(
                 
-    //             () -> getState().Pose,   // Supplier of current robot pose
+                () -> getState().Pose,   // Supplier of current robot pose
-    //             this::resetPose,         // Consumer for seeding pose against auto
+                this::resetPose,         // Consumer for seeding pose against auto
-    //             () -> getState().Speeds, // Supplier of current robot speeds
+                () -> getState().Speeds, // Supplier of current robot speeds
                 
-    //             // Consumer of ChassisSpeeds and feedforwards to drive the robot
+                // Consumer of ChassisSpeeds and feedforwards to drive the robot
-    //             (speeds, feedforwards) -> setControl(
+                (speeds, feedforwards) -> setControl(
-    //                 m_pathApplyRobotSpeeds.withSpeeds(speeds)
+                    m_pathApplyRobotSpeeds.withSpeeds(speeds)
-    //                     .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
-    //                     .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
+                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
-    //             ),
+                ),
-    //             new PPHolonomicDriveController(
+                new PPHolonomicDriveController(
-    //                 // PID constants for translation
+                    // PID constants for translation
-    //                 new PIDConstants(63.167, 0, 0.54521),
+                    new PIDConstants(63.167, 0, 0.54521),
-    //                 // // PID constants for rotation
-    //                 // new PIDConstants(7.9735, 0, 0.038499)
                     // // PID constants for rotation
-    //                 new PIDConstants(43.502,0,2.7353)
+                    // new PIDConstants(7.9735, 0, 0.038499)
-    //             ),
+                    // PID constants for rotation
-    //             config,
+                    new PIDConstants(43.502,0,2.7353)
-    //             // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+                ),
-    //             () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+                config,
-    //             this // Subsystem for requirements
+                // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+                this // Subsystem for requirements
                 
-    //         );
+            );
-    //     } 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(()->{
+         PPHolonomicDriveController.overrideRotationFeedback(()->{
-    //         return 0;
+            return 0;
-    //      });  
+         });  
-    //     }
+        }
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -100,7 +100,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        //configureAutoBuilder();
+        configureAutoBuilder();
     }
 
     /**
@@ -125,7 +125,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-     //   configureAutoBuilder();
+        configureAutoBuilder();
     }
 
     /**
@@ -158,7 +158,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        //configureAutoBuilder();
+        configureAutoBuilder();
     }