Compare commits
2 Commits
d7a887571a
...
elevateur
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36456f1fe4 | ||
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0567735a6f |
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{}
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File diff suppressed because one or more lines are too long
@@ -1,97 +0,0 @@
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{
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"System Joysticks": {
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"window": {
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"enabled": false
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}
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{
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},
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{
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"decKey": 87,
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"incKey": 83
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},
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{
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"decKey": 69,
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"decayRate": 0.0,
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"incKey": 82,
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"keyRate": 0.009999999776482582
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"buttonCount": 4,
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"buttonKeys": [
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90,
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88,
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67,
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],
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"povConfig": [
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{
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"key0": 328,
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"key225": 321,
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"key270": 324,
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"key315": 327,
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"key45": 329,
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"key90": 326
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}
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],
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"povCount": 1
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{
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"axisConfig": [
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"decKey": 74,
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"incKey": 76
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},
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{
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"decKey": 73,
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"incKey": 75
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}
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],
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"axisCount": 2,
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"buttonCount": 4,
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"buttonKeys": [
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44,
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46,
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47
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],
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"povCount": 0
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},
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{
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"axisConfig": [
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{
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"decKey": 263,
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"incKey": 262
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},
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{
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"decKey": 265,
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"incKey": 264
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}
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],
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"axisCount": 2,
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"buttonCount": 6,
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"buttonKeys": [
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260,
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268,
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261,
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"povCount": 0
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{
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"povCount": 0
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}
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]
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}
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@@ -1,57 +0,0 @@
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{
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"version": "2025.0",
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"command": {
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "BlueBasStart"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AprilTag"
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}
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},
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{
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "wait",
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"data": {
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"waitTime": 0.5
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}
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},
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{
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"type": "named",
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"data": {
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"name": "L4"
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}
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}
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]
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}
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}
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]
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}
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},
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{
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"type": "named",
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"data": {
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"name": "CoralExpire"
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}
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}
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]
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}
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},
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"resetOdom": true,
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"folder": null,
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"choreoAuto": false
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}
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@@ -1,151 +0,0 @@
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{
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"version": "2025.0",
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"command": {
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "BlueBasStart"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AprilTag"
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}
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},
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{
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "wait",
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"data": {
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"waitTime": 0.5
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}
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},
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{
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"type": "named",
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"data": {
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"name": "L4"
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}
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}
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]
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}
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}
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]
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}
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},
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{
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"type": "named",
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"data": {
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"name": "CoralExpire"
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}
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},
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{
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"type": "wait",
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"data": {
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "BlueBasChercher"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AprilTag"
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}
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{
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"type": "sequential",
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||||||
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{
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||||||
"type": "named",
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||||||
"data": {
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"name": "CoralExpire"
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"type": "named",
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"data": {
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"name": "AprilTag"
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},
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{
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||||||
"type": "path",
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"data": {
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"pathName": "BlueBasPorter"
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{
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{
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"type": "wait",
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"data": {
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"waitTime": 0.5
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}
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},
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{
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"type": "named",
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"data": {
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||||||
"name": "L4"
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}
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}
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]
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}
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}
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||||||
]
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "named",
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||||||
"data": {
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||||||
"name": "CoralExpire"
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||||||
}
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}
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||||||
]
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||||||
}
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},
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||||||
"resetOdom": true,
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||||||
"folder": null,
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||||||
"choreoAuto": false
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||||||
}
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||||||
@@ -1,126 +0,0 @@
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{
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||||||
"version": "2025.0",
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||||||
"command": {
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||||||
"type": "sequential",
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||||||
"data": {
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"commands": [
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||||||
{
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||||||
"type": "parallel",
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||||||
"data": {
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||||||
"commands": [
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||||||
{
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||||||
"type": "path",
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||||||
"data": {
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||||||
"pathName": "BlueBasStart"
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "named",
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||||||
"data": {
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||||||
"name": "AprilTag"
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||||||
}
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||||||
}
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||||||
]
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||||||
}
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||||||
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{
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||||||
"type": "wait",
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||||||
"data": {
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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||||||
"data": {
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||||||
"pathName": "BlueBasChercher"
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "named",
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||||||
"data": {
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||||||
"name": "AprilTag"
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}
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||||||
}
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]
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||||||
}
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||||||
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||||||
{
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||||||
"type": "parallel",
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"data": {
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"commands": [
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{
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||||||
"type": "named",
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"data": {
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"name": "AprilTag"
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "path",
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||||||
"data": {
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||||||
"pathName": "BlueBasPorter"
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||||||
}
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}
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||||||
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{
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||||||
"type": "wait",
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"type": "parallel",
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{
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"type": "path",
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"data": {
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"pathName": "BlueBasChercher2"
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{
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"type": "sequential",
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{
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"type": "named",
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"data": {
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"name": "AprilTag"
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"type": "parallel",
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{
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"type": "path",
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||||||
"data": {
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||||||
"pathName": "BlueBasPorter2"
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "named",
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||||||
"data": {
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||||||
"name": "AprilTag"
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||||||
}
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||||||
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]
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||||||
},
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||||||
"resetOdom": true,
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||||||
"folder": null,
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||||||
"choreoAuto": false
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||||||
}
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||||||
@@ -1,245 +0,0 @@
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{
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"version": "2025.0",
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||||||
"command": {
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||||||
"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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||||||
"data": {
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||||||
"pathName": "BlueBasStart"
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "named",
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"data": {
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"name": "AprilTag"
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}
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||||||
},
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||||||
{
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||||||
"type": "sequential",
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||||||
"data": {
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||||||
"commands": [
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||||||
{
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||||||
"type": "wait",
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||||||
"data": {
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||||||
"waitTime": 0.5
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||||||
}
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||||||
},
|
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||||||
{
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||||||
"type": "named",
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||||||
"data": {
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||||||
"name": "L4"
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||||||
}
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||||||
}
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||||||
]
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||||||
}
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}
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]
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}
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},
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||||||
{
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"type": "named",
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||||||
"data": {
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||||||
"name": "CoralExpire"
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||||||
}
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||||||
},
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||||||
{
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||||||
"type": "wait",
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||||||
"data": {
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"waitTime": 1.0
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}
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},
|
|
||||||
{
|
|
||||||
"type": "parallel",
|
|
||||||
"data": {
|
|
||||||
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|
|
||||||
{
|
|
||||||
"type": "path",
|
|
||||||
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|
|
||||||
"pathName": "BlueBasChercher"
|
|
||||||
}
|
|
||||||
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|
|
||||||
{
|
|
||||||
"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"
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|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -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
|
|
||||||
}
|
|
||||||
@@ -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"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
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|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"type": "named",
|
|
||||||
"data": {
|
|
||||||
"name": "CoralInspire"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"type": "parallel",
|
|
||||||
"data": {
|
|
||||||
"commands": [
|
|
||||||
{
|
|
||||||
"type": "named",
|
|
||||||
"data": {
|
|
||||||
"name": "AprilTag"
|
|
||||||
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|
|
||||||
},
|
|
||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -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"
|
|
||||||
}
|
|
||||||
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|
|
||||||
{
|
|
||||||
"type": "wait",
|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
{
|
|
||||||
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|
|
||||||
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|
|
||||||
"pathName": "BlueHautChercher"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"type": "named",
|
|
||||||
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|
|
||||||
"name": "AprilTag"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
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|
|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
{
|
|
||||||
"type": "named",
|
|
||||||
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|
|
||||||
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|
|
||||||
}
|
|
||||||
}
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"type": "named",
|
|
||||||
"data": {
|
|
||||||
"name": "CoralInspire"
|
|
||||||
}
|
|
||||||
},
|
|
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|
||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,54 +0,0 @@
|
|||||||
{
|
|
||||||
"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
|
|
||||||
}
|
|
||||||
@@ -1,54 +0,0 @@
|
|||||||
{
|
|
||||||
"version": "2025.0",
|
|
||||||
"waypoints": [
|
|
||||||
{
|
|
||||||
"anchor": {
|
|
||||||
"x": 7.504303278688524,
|
|
||||||
"y": 6.464497950819672
|
|
||||||
},
|
|
||||||
"prevControl": null,
|
|
||||||
"nextControl": {
|
|
||||||
"x": 7.119564732833961,
|
|
||||||
"y": 6.478684258786044
|
|
||||||
},
|
|
||||||
"isLocked": false,
|
|
||||||
"linkedName": null
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"anchor": {
|
|
||||||
"x": 5.815652951699465,
|
|
||||||
"y": 6.464497950819672
|
|
||||||
},
|
|
||||||
"prevControl": {
|
|
||||||
"x": 6.633711863494241,
|
|
||||||
"y": 6.455611583097
|
|
||||||
},
|
|
||||||
"nextControl": null,
|
|
||||||
"isLocked": false,
|
|
||||||
"linkedName": null
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"rotationTargets": [],
|
|
||||||
"constraintZones": [],
|
|
||||||
"pointTowardsZones": [],
|
|
||||||
"eventMarkers": [],
|
|
||||||
"globalConstraints": {
|
|
||||||
"maxVelocity": 1.0,
|
|
||||||
"maxAcceleration": 1.0,
|
|
||||||
"maxAngularVelocity": 50.0,
|
|
||||||
"maxAngularAcceleration": 100.0,
|
|
||||||
"nominalVoltage": 12.0,
|
|
||||||
"unlimited": false
|
|
||||||
},
|
|
||||||
"goalEndState": {
|
|
||||||
"velocity": 0,
|
|
||||||
"rotation": 180.0
|
|
||||||
},
|
|
||||||
"reversed": false,
|
|
||||||
"folder": null,
|
|
||||||
"idealStartingState": {
|
|
||||||
"velocity": 0,
|
|
||||||
"rotation": 180.0
|
|
||||||
},
|
|
||||||
"useDefaultConstraints": false
|
|
||||||
}
|
|
||||||
@@ -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": 45.3592,
|
|
||||||
"robotMOI": 6.883,
|
|
||||||
"robotTrackwidth": 0.546,
|
|
||||||
"driveWheelRadius": 0.048,
|
|
||||||
"driveGearing": 5.143,
|
|
||||||
"maxDriveSpeed": 5.261,
|
|
||||||
"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": []
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -4,160 +4,17 @@
|
|||||||
|
|
||||||
package frc.robot;
|
package frc.robot;
|
||||||
|
|
||||||
import static edu.wpi.first.units.Units.*;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
|
|
||||||
import com.ctre.phoenix6.hardware.Pigeon2;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
|
||||||
import com.pathplanner.lib.auto.AutoBuilder;
|
|
||||||
import com.pathplanner.lib.auto.NamedCommands;
|
|
||||||
import com.pathplanner.lib.commands.PathPlannerAuto;
|
|
||||||
import com.pathplanner.lib.util.FlippingUtil;
|
|
||||||
import edu.wpi.first.math.MathUtil;
|
|
||||||
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.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.SequentialCommandGroup;
|
|
||||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
|
||||||
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.StationPince;
|
|
||||||
import frc.robot.commands.reset;
|
|
||||||
import frc.robot.commands.Elevateur.Depart;
|
|
||||||
import frc.robot.commands.Elevateur.ElevateurManuel;
|
|
||||||
import frc.robot.commands.Elevateur.L2;
|
|
||||||
import frc.robot.commands.Elevateur.L3;
|
|
||||||
import frc.robot.commands.Elevateur.L4;
|
|
||||||
import frc.robot.commands.Pince.AlgueExpire;
|
|
||||||
import frc.robot.commands.Pince.Algue_inspire;
|
|
||||||
import frc.robot.commands.Pince.CorailAspir;
|
|
||||||
import frc.robot.commands.Pince.CoralAlgueInspire;
|
|
||||||
import frc.robot.commands.Pince.CoralExpire;
|
|
||||||
import frc.robot.commands.Pince.PinceManuel;
|
|
||||||
import frc.robot.commands.requin.BalayeuseBas;
|
|
||||||
import frc.robot.commands.requin.BalayeuseHaut;
|
|
||||||
import frc.robot.commands.requin.exspire;
|
|
||||||
import frc.robot.subsystems.Bougie;
|
|
||||||
import frc.robot.subsystems.CommandSwerveDrivetrain;
|
|
||||||
import frc.robot.subsystems.Elevateur;
|
|
||||||
import frc.robot.subsystems.Grimpeur;
|
|
||||||
import frc.robot.subsystems.Limelight3;
|
|
||||||
import frc.robot.subsystems.Limelight3G;
|
|
||||||
import frc.robot.subsystems.Pince;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
public class RobotContainer {
|
public class RobotContainer {
|
||||||
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
|
|
||||||
|
|
||||||
/* 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
|
|
||||||
|
|
||||||
private final Telemetry logger = new Telemetry(MaxSpeed);
|
|
||||||
private final CommandXboxController manette1 = new CommandXboxController(0);
|
|
||||||
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
|
|
||||||
}
|
|
||||||
|
|
||||||
Elevateur elevateur = new Elevateur();
|
|
||||||
Pince pince = new Pince();
|
|
||||||
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
|
|
||||||
PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
|
|
||||||
Bougie bougie = new Bougie();
|
|
||||||
Limelight3G limelight3g = new Limelight3G();
|
|
||||||
Limelight3 limelight3 = new Limelight3();
|
|
||||||
Pose2d pose = new Pose2d();
|
|
||||||
Grimpeur Grimpeur = new Grimpeur();
|
|
||||||
Requin requin = new Requin();
|
|
||||||
|
|
||||||
public RobotContainer() {
|
public RobotContainer() {
|
||||||
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
|
|
||||||
SmartDashboard.putData("Auto Mode", autoChooser);
|
|
||||||
configureBindings();
|
configureBindings();
|
||||||
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
|
|
||||||
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
|
|
||||||
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
|
|
||||||
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
|
|
||||||
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
|
|
||||||
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
|
|
||||||
}
|
}
|
||||||
private void configureBindings() {
|
|
||||||
drivetrain.registerTelemetry(logger::telemeterize);
|
|
||||||
drivetrain.setDefaultCommand(
|
|
||||||
// Drivetrain will execute this command periodically
|
|
||||||
drivetrain.applyRequest(() ->
|
|
||||||
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
|
|
||||||
.withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
|
|
||||||
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
|
private void configureBindings() {}
|
||||||
/* Manette 1 */
|
|
||||||
// reset the field-centric heading on start press
|
|
||||||
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
|
|
||||||
|
|
||||||
//pince
|
|
||||||
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
|
|
||||||
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
|
|
||||||
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
|
|
||||||
|
|
||||||
//elevateur
|
|
||||||
manette1.a().whileTrue(new Depart(elevateur, pince));
|
|
||||||
manette1.b().whileTrue(new L2(elevateur,pince));
|
|
||||||
manette1.x().whileTrue(new L3(elevateur, pince));
|
|
||||||
manette1.y().whileTrue(new L4(elevateur, pince));
|
|
||||||
|
|
||||||
/* Manette 2 */
|
|
||||||
//pince
|
|
||||||
manette2.a().whileTrue(new CorailAspir(pince));
|
|
||||||
manette2.b().whileTrue(new Algue_inspire(pince));
|
|
||||||
manette2.y().whileTrue(new BalayeuseHaut(requin));
|
|
||||||
manette2.x().whileTrue(new BalayeuseBas(requin));
|
|
||||||
manette2.rightTrigger().whileTrue(new exspire(requin));
|
|
||||||
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
|
|
||||||
|
|
||||||
//Pince manuel
|
|
||||||
pince.setDefaultCommand(new RunCommand(()->{
|
|
||||||
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
|
|
||||||
}, pince));
|
|
||||||
|
|
||||||
//Elevateur manuel
|
|
||||||
elevateur.setDefaultCommand(new RunCommand(()->{
|
|
||||||
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
|
|
||||||
}, elevateur));
|
|
||||||
|
|
||||||
//limelight
|
|
||||||
manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
|
|
||||||
manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
|
|
||||||
|
|
||||||
//Reset encodeur
|
|
||||||
manette2.start().whileTrue(new reset(elevateur, pince));
|
|
||||||
}
|
|
||||||
|
|
||||||
public Command getAutonomousCommand() {
|
public Command getAutonomousCommand() {
|
||||||
return new SequentialCommandGroup(Commands.runOnce(()->{
|
return Commands.print("No autonomous command configured");
|
||||||
boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
|
|
||||||
if(flip){
|
|
||||||
drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
|
|
||||||
}
|
|
||||||
}),autoChooser.getSelected(), new RainBow(bougie));
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1,124 +0,0 @@
|
|||||||
package frc.robot;
|
|
||||||
|
|
||||||
import com.ctre.phoenix6.SignalLogger;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState;
|
|
||||||
|
|
||||||
import edu.wpi.first.math.geometry.Pose2d;
|
|
||||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
|
||||||
import edu.wpi.first.math.kinematics.SwerveModulePosition;
|
|
||||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
|
||||||
import edu.wpi.first.networktables.DoubleArrayPublisher;
|
|
||||||
import edu.wpi.first.networktables.DoublePublisher;
|
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
import edu.wpi.first.networktables.StringPublisher;
|
|
||||||
import edu.wpi.first.networktables.StructArrayPublisher;
|
|
||||||
import edu.wpi.first.networktables.StructPublisher;
|
|
||||||
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
|
|
||||||
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
|
|
||||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
|
||||||
import edu.wpi.first.wpilibj.util.Color;
|
|
||||||
import edu.wpi.first.wpilibj.util.Color8Bit;
|
|
||||||
|
|
||||||
public class Telemetry {
|
|
||||||
private final double MaxSpeed;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Construct a telemetry object, with the specified max speed of the robot
|
|
||||||
*
|
|
||||||
* @param maxSpeed Maximum speed in meters per second
|
|
||||||
*/
|
|
||||||
public Telemetry(double maxSpeed) {
|
|
||||||
MaxSpeed = maxSpeed;
|
|
||||||
SignalLogger.start();
|
|
||||||
}
|
|
||||||
|
|
||||||
/* What to publish over networktables for telemetry */
|
|
||||||
private final NetworkTableInstance inst = NetworkTableInstance.getDefault();
|
|
||||||
|
|
||||||
/* Robot swerve drive state */
|
|
||||||
private final NetworkTable driveStateTable = inst.getTable("DriveState");
|
|
||||||
private final StructPublisher<Pose2d> drivePose = driveStateTable.getStructTopic("Pose", Pose2d.struct).publish();
|
|
||||||
private final StructPublisher<ChassisSpeeds> driveSpeeds = driveStateTable.getStructTopic("Speeds", ChassisSpeeds.struct).publish();
|
|
||||||
private final StructArrayPublisher<SwerveModuleState> driveModuleStates = driveStateTable.getStructArrayTopic("ModuleStates", SwerveModuleState.struct).publish();
|
|
||||||
private final StructArrayPublisher<SwerveModuleState> driveModuleTargets = driveStateTable.getStructArrayTopic("ModuleTargets", SwerveModuleState.struct).publish();
|
|
||||||
private final StructArrayPublisher<SwerveModulePosition> driveModulePositions = driveStateTable.getStructArrayTopic("ModulePositions", SwerveModulePosition.struct).publish();
|
|
||||||
private final DoublePublisher driveTimestamp = driveStateTable.getDoubleTopic("Timestamp").publish();
|
|
||||||
private final DoublePublisher driveOdometryFrequency = driveStateTable.getDoubleTopic("OdometryFrequency").publish();
|
|
||||||
|
|
||||||
/* Robot pose for field positioning */
|
|
||||||
private final NetworkTable table = inst.getTable("Pose");
|
|
||||||
private final DoubleArrayPublisher fieldPub = table.getDoubleArrayTopic("robotPose").publish();
|
|
||||||
private final StringPublisher fieldTypePub = table.getStringTopic(".type").publish();
|
|
||||||
|
|
||||||
/* Mechanisms to represent the swerve module states */
|
|
||||||
private final Mechanism2d[] m_moduleMechanisms = new Mechanism2d[] {
|
|
||||||
new Mechanism2d(1, 1),
|
|
||||||
new Mechanism2d(1, 1),
|
|
||||||
new Mechanism2d(1, 1),
|
|
||||||
new Mechanism2d(1, 1),
|
|
||||||
};
|
|
||||||
/* A direction and length changing ligament for speed representation */
|
|
||||||
private final MechanismLigament2d[] m_moduleSpeeds = new MechanismLigament2d[] {
|
|
||||||
m_moduleMechanisms[0].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
|
|
||||||
m_moduleMechanisms[1].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
|
|
||||||
m_moduleMechanisms[2].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
|
|
||||||
m_moduleMechanisms[3].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
|
|
||||||
};
|
|
||||||
/* A direction changing and length constant ligament for module direction */
|
|
||||||
private final MechanismLigament2d[] m_moduleDirections = new MechanismLigament2d[] {
|
|
||||||
m_moduleMechanisms[0].getRoot("RootDirection", 0.5, 0.5)
|
|
||||||
.append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
|
|
||||||
m_moduleMechanisms[1].getRoot("RootDirection", 0.5, 0.5)
|
|
||||||
.append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
|
|
||||||
m_moduleMechanisms[2].getRoot("RootDirection", 0.5, 0.5)
|
|
||||||
.append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
|
|
||||||
m_moduleMechanisms[3].getRoot("RootDirection", 0.5, 0.5)
|
|
||||||
.append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
|
|
||||||
};
|
|
||||||
|
|
||||||
private final double[] m_poseArray = new double[3];
|
|
||||||
private final double[] m_moduleStatesArray = new double[8];
|
|
||||||
private final double[] m_moduleTargetsArray = new double[8];
|
|
||||||
|
|
||||||
/** Accept the swerve drive state and telemeterize it to SmartDashboard and SignalLogger. */
|
|
||||||
public void telemeterize(SwerveDriveState state) {
|
|
||||||
/* Telemeterize the swerve drive state */
|
|
||||||
drivePose.set(state.Pose);
|
|
||||||
driveSpeeds.set(state.Speeds);
|
|
||||||
driveModuleStates.set(state.ModuleStates);
|
|
||||||
driveModuleTargets.set(state.ModuleTargets);
|
|
||||||
driveModulePositions.set(state.ModulePositions);
|
|
||||||
driveTimestamp.set(state.Timestamp);
|
|
||||||
driveOdometryFrequency.set(1.0 / state.OdometryPeriod);
|
|
||||||
|
|
||||||
/* Also write to log file */
|
|
||||||
m_poseArray[0] = state.Pose.getX();
|
|
||||||
m_poseArray[1] = state.Pose.getY();
|
|
||||||
m_poseArray[2] = state.Pose.getRotation().getDegrees();
|
|
||||||
for (int i = 0; i < 4; ++i) {
|
|
||||||
m_moduleStatesArray[i*2 + 0] = state.ModuleStates[i].angle.getRadians();
|
|
||||||
m_moduleStatesArray[i*2 + 1] = state.ModuleStates[i].speedMetersPerSecond;
|
|
||||||
m_moduleTargetsArray[i*2 + 0] = state.ModuleTargets[i].angle.getRadians();
|
|
||||||
m_moduleTargetsArray[i*2 + 1] = state.ModuleTargets[i].speedMetersPerSecond;
|
|
||||||
}
|
|
||||||
|
|
||||||
SignalLogger.writeDoubleArray("DriveState/Pose", m_poseArray);
|
|
||||||
SignalLogger.writeDoubleArray("DriveState/ModuleStates", m_moduleStatesArray);
|
|
||||||
SignalLogger.writeDoubleArray("DriveState/ModuleTargets", m_moduleTargetsArray);
|
|
||||||
SignalLogger.writeDouble("DriveState/OdometryPeriod", state.OdometryPeriod, "seconds");
|
|
||||||
|
|
||||||
/* Telemeterize the pose to a Field2d */
|
|
||||||
fieldTypePub.set("Field2d");
|
|
||||||
fieldPub.set(m_poseArray);
|
|
||||||
|
|
||||||
/* Telemeterize the module states to a Mechanism2d */
|
|
||||||
for (int i = 0; i < 4; ++i) {
|
|
||||||
m_moduleSpeeds[i].setAngle(state.ModuleStates[i].angle);
|
|
||||||
m_moduleDirections[i].setAngle(state.ModuleStates[i].angle);
|
|
||||||
m_moduleSpeeds[i].setLength(state.ModuleStates[i].speedMetersPerSecond / (2 * MaxSpeed));
|
|
||||||
|
|
||||||
SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,290 +0,0 @@
|
|||||||
package frc.robot.TunerConstants;
|
|
||||||
|
|
||||||
import static edu.wpi.first.units.Units.*;
|
|
||||||
|
|
||||||
import com.ctre.phoenix6.CANBus;
|
|
||||||
import com.ctre.phoenix6.configs.*;
|
|
||||||
import com.ctre.phoenix6.hardware.*;
|
|
||||||
import com.ctre.phoenix6.signals.*;
|
|
||||||
import com.ctre.phoenix6.swerve.*;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
|
|
||||||
|
|
||||||
import edu.wpi.first.math.Matrix;
|
|
||||||
import edu.wpi.first.math.numbers.N1;
|
|
||||||
import edu.wpi.first.math.numbers.N3;
|
|
||||||
import edu.wpi.first.units.measure.*;
|
|
||||||
|
|
||||||
import frc.robot.subsystems.CommandSwerveDrivetrain;
|
|
||||||
|
|
||||||
// Generated by the Tuner X Swerve Project Generator
|
|
||||||
// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
|
|
||||||
public class TunerConstants {
|
|
||||||
// Both sets of gains need to be tuned to your individual robot.
|
|
||||||
|
|
||||||
// The steer motor uses any SwerveModule.SteerRequestType control request with the
|
|
||||||
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
|
|
||||||
//private static final Slot0Configs steerGains = new Slot0Configs()
|
|
||||||
// .withKP(68.294).withKI(0).withKD(4.7806)
|
|
||||||
// .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);
|
|
||||||
// When using closed-loop control, the drive motor uses the control
|
|
||||||
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
|
|
||||||
private static final Slot0Configs driveGains = new Slot0Configs()
|
|
||||||
.withKP(63.167).withKI(0).withKD(0.54521)
|
|
||||||
.withKS(0.18227).withKV(0.12483);
|
|
||||||
|
|
||||||
// The closed-loop output type to use for the steer motors;
|
|
||||||
// This affects the PID/FF gains for the steer motors
|
|
||||||
private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
|
|
||||||
// The closed-loop output type to use for the drive motors;
|
|
||||||
// This affects the PID/FF gains for the drive motors
|
|
||||||
private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
|
|
||||||
|
|
||||||
// The type of motor used for the drive motor
|
|
||||||
private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
|
|
||||||
// The type of motor used for the drive motor
|
|
||||||
private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
|
|
||||||
|
|
||||||
// The remote sensor feedback type to use for the steer motors;
|
|
||||||
// When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
|
|
||||||
private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
|
|
||||||
|
|
||||||
// The stator current at which the wheels start to slip;
|
|
||||||
// This needs to be tuned to your individual robot
|
|
||||||
private static final Current kSlipCurrent = Amps.of(120.0);
|
|
||||||
|
|
||||||
// Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
|
|
||||||
// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
|
|
||||||
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
|
|
||||||
private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
|
|
||||||
.withCurrentLimits(
|
|
||||||
new CurrentLimitsConfigs()
|
|
||||||
// Swerve azimuth does not require much torque output, so we can set a relatively low
|
|
||||||
// stator current limit to help avoid brownouts without impacting performance.
|
|
||||||
.withStatorCurrentLimit(Amps.of(60))
|
|
||||||
.withStatorCurrentLimitEnable(true)
|
|
||||||
);
|
|
||||||
private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
|
|
||||||
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
|
|
||||||
private static final Pigeon2Configuration pigeonConfigs = null;
|
|
||||||
|
|
||||||
// CAN bus that the devices are located on;
|
|
||||||
// All swerve devices must share the same CAN bus
|
|
||||||
public static final CANBus kCANBus = new CANBus("swerve", "./logs/example.hoot");
|
|
||||||
|
|
||||||
// Theoretical free speed (m/s) at 12 V applied output;
|
|
||||||
// This needs to be tuned to your individual robot
|
|
||||||
public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.21);
|
|
||||||
|
|
||||||
// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
|
|
||||||
// This may need to be tuned to your individual robot
|
|
||||||
private static final double kCoupleRatio = 3.5714285714285716;
|
|
||||||
|
|
||||||
private static final double kDriveGearRatio = 6.122448979591837;
|
|
||||||
private static final double kSteerGearRatio = 21.428571428571427;
|
|
||||||
private static final Distance kWheelRadius = Inches.of(2);
|
|
||||||
|
|
||||||
private static final boolean kInvertLeftSide = false;
|
|
||||||
private static final boolean kInvertRightSide = true;
|
|
||||||
|
|
||||||
private static final int kPigeonId = 13;
|
|
||||||
|
|
||||||
// These are only used for simulation
|
|
||||||
private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
|
|
||||||
private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
|
|
||||||
// Simulated voltage necessary to overcome friction
|
|
||||||
private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
|
|
||||||
private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
|
|
||||||
|
|
||||||
public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
|
|
||||||
.withCANBusName(kCANBus.getName())
|
|
||||||
.withPigeon2Id(kPigeonId)
|
|
||||||
.withPigeon2Configs(pigeonConfigs);
|
|
||||||
|
|
||||||
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
|
|
||||||
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
|
|
||||||
.withDriveMotorGearRatio(kDriveGearRatio)
|
|
||||||
.withSteerMotorGearRatio(kSteerGearRatio)
|
|
||||||
.withCouplingGearRatio(kCoupleRatio)
|
|
||||||
.withWheelRadius(kWheelRadius)
|
|
||||||
.withSteerMotorGains(steerGains)
|
|
||||||
.withDriveMotorGains(driveGains)
|
|
||||||
.withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
|
|
||||||
.withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
|
|
||||||
.withSlipCurrent(kSlipCurrent)
|
|
||||||
.withSpeedAt12Volts(kSpeedAt12Volts)
|
|
||||||
.withDriveMotorType(kDriveMotorType)
|
|
||||||
.withSteerMotorType(kSteerMotorType)
|
|
||||||
.withFeedbackSource(kSteerFeedbackType)
|
|
||||||
.withDriveMotorInitialConfigs(driveInitialConfigs)
|
|
||||||
.withSteerMotorInitialConfigs(steerInitialConfigs)
|
|
||||||
.withEncoderInitialConfigs(encoderInitialConfigs)
|
|
||||||
.withSteerInertia(kSteerInertia)
|
|
||||||
.withDriveInertia(kDriveInertia)
|
|
||||||
.withSteerFrictionVoltage(kSteerFrictionVoltage)
|
|
||||||
.withDriveFrictionVoltage(kDriveFrictionVoltage);
|
|
||||||
|
|
||||||
|
|
||||||
// Front Left
|
|
||||||
private static final int kFrontLeftDriveMotorId = 4;
|
|
||||||
private static final int kFrontLeftSteerMotorId = 5;
|
|
||||||
private static final int kFrontLeftEncoderId = 12;
|
|
||||||
private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.353271484375);
|
|
||||||
private static final boolean kFrontLeftSteerMotorInverted = true;
|
|
||||||
private static final boolean kFrontLeftEncoderInverted = false;
|
|
||||||
|
|
||||||
private static final Distance kFrontLeftXPos = Inches.of(13.5);
|
|
||||||
private static final Distance kFrontLeftYPos = Inches.of(10.5);
|
|
||||||
|
|
||||||
// Front Right
|
|
||||||
private static final int kFrontRightDriveMotorId = 2;
|
|
||||||
private static final int kFrontRightSteerMotorId = 6;
|
|
||||||
private static final int kFrontRightEncoderId = 9;
|
|
||||||
private static final Angle kFrontRightEncoderOffset = Rotations.of(0.2119140625);
|
|
||||||
private static final boolean kFrontRightSteerMotorInverted = true;
|
|
||||||
private static final boolean kFrontRightEncoderInverted = false;
|
|
||||||
|
|
||||||
private static final Distance kFrontRightXPos = Inches.of(13.5);
|
|
||||||
private static final Distance kFrontRightYPos = Inches.of(-10.5);
|
|
||||||
|
|
||||||
// Back Left
|
|
||||||
private static final int kBackLeftDriveMotorId = 18;
|
|
||||||
private static final int kBackLeftSteerMotorId = 8;
|
|
||||||
private static final int kBackLeftEncoderId = 11;
|
|
||||||
private static final Angle kBackLeftEncoderOffset = Rotations.of(0.236572265625);
|
|
||||||
private static final boolean kBackLeftSteerMotorInverted = true;
|
|
||||||
private static final boolean kBackLeftEncoderInverted = false;
|
|
||||||
|
|
||||||
private static final Distance kBackLeftXPos = Inches.of(-13.5);
|
|
||||||
private static final Distance kBackLeftYPos = Inches.of(10.5);
|
|
||||||
|
|
||||||
// Back Right
|
|
||||||
private static final int kBackRightDriveMotorId = 3;
|
|
||||||
private static final int kBackRightSteerMotorId = 7;
|
|
||||||
private static final int kBackRightEncoderId = 10;
|
|
||||||
private static final Angle kBackRightEncoderOffset = Rotations.of(-0.330078125);
|
|
||||||
private static final boolean kBackRightSteerMotorInverted = true;
|
|
||||||
private static final boolean kBackRightEncoderInverted = false;
|
|
||||||
|
|
||||||
private static final Distance kBackRightXPos = Inches.of(-13.5);
|
|
||||||
private static final Distance kBackRightYPos = Inches.of(-10.5);
|
|
||||||
|
|
||||||
|
|
||||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
|
|
||||||
ConstantCreator.createModuleConstants(
|
|
||||||
kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset,
|
|
||||||
kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted
|
|
||||||
);
|
|
||||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
|
|
||||||
ConstantCreator.createModuleConstants(
|
|
||||||
kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
|
|
||||||
kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted
|
|
||||||
);
|
|
||||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
|
|
||||||
ConstantCreator.createModuleConstants(
|
|
||||||
kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
|
|
||||||
kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted
|
|
||||||
);
|
|
||||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
|
|
||||||
ConstantCreator.createModuleConstants(
|
|
||||||
kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset,
|
|
||||||
kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted
|
|
||||||
);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Creates a CommandSwerveDrivetrain instance.
|
|
||||||
* This should only be called once in your robot program,.
|
|
||||||
*/
|
|
||||||
public static CommandSwerveDrivetrain createDrivetrain() {
|
|
||||||
return new CommandSwerveDrivetrain(
|
|
||||||
DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.
|
|
||||||
*/
|
|
||||||
public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> {
|
|
||||||
/**
|
|
||||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
|
||||||
* <p>
|
|
||||||
* This constructs the underlying hardware devices, so users should not construct
|
|
||||||
* the devices themselves. If they need the devices, they can access them through
|
|
||||||
* getters in the classes.
|
|
||||||
*
|
|
||||||
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
|
|
||||||
* @param modules Constants for each specific module
|
|
||||||
*/
|
|
||||||
public TunerSwerveDrivetrain(
|
|
||||||
SwerveDrivetrainConstants drivetrainConstants,
|
|
||||||
SwerveModuleConstants<?, ?, ?>... modules
|
|
||||||
) {
|
|
||||||
super(
|
|
||||||
TalonFX::new, TalonFX::new, CANcoder::new,
|
|
||||||
drivetrainConstants, modules
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
|
||||||
* <p>
|
|
||||||
* This constructs the underlying hardware devices, so users should not construct
|
|
||||||
* the devices themselves. If they need the devices, they can access them through
|
|
||||||
* getters in the classes.
|
|
||||||
*
|
|
||||||
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
|
|
||||||
* @param odometryUpdateFrequency The frequency to run the odometry loop. If
|
|
||||||
* unspecified or set to 0 Hz, this is 250 Hz on
|
|
||||||
* CAN FD, and 100 Hz on CAN 2.0.
|
|
||||||
* @param modules Constants for each specific module
|
|
||||||
*/
|
|
||||||
public TunerSwerveDrivetrain(
|
|
||||||
SwerveDrivetrainConstants drivetrainConstants,
|
|
||||||
double odometryUpdateFrequency,
|
|
||||||
SwerveModuleConstants<?, ?, ?>... modules
|
|
||||||
) {
|
|
||||||
super(
|
|
||||||
TalonFX::new, TalonFX::new, CANcoder::new,
|
|
||||||
drivetrainConstants, odometryUpdateFrequency, modules
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
|
||||||
* <p>
|
|
||||||
* This constructs the underlying hardware devices, so users should not construct
|
|
||||||
* the devices themselves. If they need the devices, they can access them through
|
|
||||||
* getters in the classes.
|
|
||||||
*
|
|
||||||
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
|
|
||||||
* @param odometryUpdateFrequency The frequency to run the odometry loop. If
|
|
||||||
* unspecified or set to 0 Hz, this is 250 Hz on
|
|
||||||
* CAN FD, and 100 Hz on CAN 2.0.
|
|
||||||
* @param odometryStandardDeviation The standard deviation for odometry calculation
|
|
||||||
* in the form [x, y, theta]ᵀ, with units in meters
|
|
||||||
* and radians
|
|
||||||
* @param visionStandardDeviation The standard deviation for vision calculation
|
|
||||||
* in the form [x, y, theta]ᵀ, with units in meters
|
|
||||||
* and radians
|
|
||||||
* @param modules Constants for each specific module
|
|
||||||
*/
|
|
||||||
public TunerSwerveDrivetrain(
|
|
||||||
SwerveDrivetrainConstants drivetrainConstants,
|
|
||||||
double odometryUpdateFrequency,
|
|
||||||
Matrix<N3, N1> odometryStandardDeviation,
|
|
||||||
Matrix<N3, N1> visionStandardDeviation,
|
|
||||||
SwerveModuleConstants<?, ?, ?>... modules
|
|
||||||
) {
|
|
||||||
super(
|
|
||||||
TalonFX::new, TalonFX::new, CANcoder::new,
|
|
||||||
drivetrainConstants, odometryUpdateFrequency,
|
|
||||||
odometryStandardDeviation, visionStandardDeviation, modules
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,81 +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.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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,78 +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.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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -2,17 +2,16 @@
|
|||||||
// 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.commands.Elevateur;
|
package frc.robot.commands;
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
import frc.robot.subsystems.Elevateur;
|
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 */
|
/* 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 {
|
public class Depart extends Command {
|
||||||
private Elevateur elevateur;
|
private Elevateur elevateur;
|
||||||
/** Creates a new L2. */
|
/** Creates a new L2. */
|
||||||
public Depart(Elevateur elevateur, Pince pince) {
|
public Depart(Elevateur elevateur) {
|
||||||
this.elevateur = elevateur;
|
this.elevateur = elevateur;
|
||||||
addRequirements(elevateur);
|
addRequirements(elevateur);
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
@@ -30,9 +29,8 @@ public class Depart extends Command {
|
|||||||
elevateur.reset();
|
elevateur.reset();
|
||||||
}
|
}
|
||||||
else{
|
else{
|
||||||
elevateur.vitesse(.5);
|
elevateur.vitesse(-.5);
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@@ -1,78 +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.commands.Elevateur;
|
|
||||||
import edu.wpi.first.networktables.DoubleSubscriber;
|
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
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;
|
|
||||||
|
|
||||||
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
|
|
||||||
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
|
|
||||||
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1);
|
|
||||||
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurelevateurhautL2").subscribe(-0.9);
|
|
||||||
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL2").subscribe(-1);
|
|
||||||
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpinceautL2").subscribe(-0.9);
|
|
||||||
/** 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() {
|
|
||||||
double encodeurbase = encodeur1.get();
|
|
||||||
double encodeurhaute = encodeur2.get();
|
|
||||||
double encodeurbasp = encodeur3.get();
|
|
||||||
double encodeurhautp = encodeur4.get();
|
|
||||||
if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
|
|
||||||
elevateur.vitesse(0);
|
|
||||||
}
|
|
||||||
else if(elevateur.position()>=encodeurbase){
|
|
||||||
elevateur.vitesse(-0.2);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
elevateur.vitesse(.2);
|
|
||||||
// }
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,76 +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.commands.Elevateur;
|
|
||||||
|
|
||||||
import edu.wpi.first.networktables.DoubleSubscriber;
|
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
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;
|
|
||||||
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
|
|
||||||
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
|
|
||||||
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurhautL3").subscribe(-2.9);
|
|
||||||
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurbasL3").subscribe(-3);
|
|
||||||
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL3").subscribe(-1);
|
|
||||||
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL3").subscribe(-0.9);
|
|
||||||
/** 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() {
|
|
||||||
double encodeurHaute = encodeur1.get();
|
|
||||||
double encodeurBase = encodeur2.get();
|
|
||||||
double encodeurbase = encodeur3.get();
|
|
||||||
double encodeurhaute = encodeur4.get();
|
|
||||||
if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
|
|
||||||
elevateur.vitesse(0);
|
|
||||||
}
|
|
||||||
else if(elevateur.position()>=-encodeurHaute){
|
|
||||||
elevateur.vitesse(-0.2);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
elevateur.vitesse(.2);
|
|
||||||
}
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,79 +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.commands.Elevateur;
|
|
||||||
|
|
||||||
import edu.wpi.first.networktables.DoubleSubscriber;
|
|
||||||
import edu.wpi.first.networktables.DoubleTopic;
|
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
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;
|
|
||||||
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
|
|
||||||
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
|
|
||||||
private DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
|
|
||||||
DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
|
|
||||||
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
|
|
||||||
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
|
|
||||||
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
|
|
||||||
/** Creates a new L2. */
|
|
||||||
public L4(Elevateur elevateur,Pince pince) {
|
|
||||||
this.elevateur = elevateur;
|
|
||||||
this.pince = pince;
|
|
||||||
encodeur1topic.setPersistent(true);
|
|
||||||
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() {
|
|
||||||
double encodeurBase = encodeur1.get();
|
|
||||||
double encodeurhaute = encodeur2.get();
|
|
||||||
double encodeurbasp = encodeur3.get();
|
|
||||||
double encodeurhautp = encodeur4.get();
|
|
||||||
if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
|
|
||||||
elevateur.vitesse(0);
|
|
||||||
}
|
|
||||||
else if(elevateur.position()>=encodeurhaute){
|
|
||||||
elevateur.vitesse(-0.2);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
elevateur.vitesse(.2);
|
|
||||||
}
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -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.commands.Elevateur;
|
package frc.robot.commands;
|
||||||
|
|
||||||
import java.util.function.DoubleSupplier;
|
import java.util.function.DoubleSupplier;
|
||||||
|
|
||||||
@@ -28,8 +28,10 @@ public class ElevateurManuel extends Command {
|
|||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void execute() {
|
public void execute() {
|
||||||
if (elevateur.limit2())
|
if(elevateur.limit2()==true){
|
||||||
elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
|
elevateur.vitesse(0);
|
||||||
|
}
|
||||||
|
elevateur.vitesse(doubleSupplier.getAsDouble());
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@@ -1,79 +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.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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -6,20 +6,15 @@ package frc.robot.commands;
|
|||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
import frc.robot.subsystems.Elevateur;
|
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 */
|
/* 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 {
|
public class L2 extends Command {
|
||||||
/** Creates a new reset. */
|
|
||||||
private Elevateur elevateur;
|
private Elevateur elevateur;
|
||||||
private Pince pince;
|
/** Creates a new L2. */
|
||||||
public reset(Elevateur elevateur, Pince pince) {
|
public L2(Elevateur elevateur) {
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
|
||||||
this.elevateur = elevateur;
|
this.elevateur = elevateur;
|
||||||
this.pince = pince;
|
addRequirements(elevateur);
|
||||||
addRequirements(elevateur,pince);
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called when the command is initially scheduled.
|
// Called when the command is initially scheduled.
|
||||||
@@ -29,13 +24,23 @@ public class reset extends Command {
|
|||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void execute() {
|
public void execute() {
|
||||||
elevateur.reset();
|
if(elevateur.position()>=500 && elevateur.position()<=510){
|
||||||
pince.reset();
|
elevateur.vitesse(0);
|
||||||
|
}
|
||||||
|
else if(elevateur.position()>=510){
|
||||||
|
elevateur.vitesse(-0.3);
|
||||||
|
}
|
||||||
|
else{
|
||||||
|
elevateur.vitesse(.3);
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@Override
|
@Override
|
||||||
public void end(boolean interrupted) {}
|
public void end(boolean interrupted) {
|
||||||
|
elevateur.vitesse(0);
|
||||||
|
}
|
||||||
|
|
||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
@Override
|
@Override
|
||||||
@@ -2,18 +2,18 @@
|
|||||||
// 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.commands.Pince;
|
package frc.robot.commands;
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
import frc.robot.subsystems.Pince;
|
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 */
|
/* 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 {
|
public class L3 extends Command {
|
||||||
private Pince pince;
|
private Elevateur elevateur;
|
||||||
/** Creates a new DepartPince. */
|
/** Creates a new L2. */
|
||||||
public DepartPince(Pince pince) {
|
public L3(Elevateur elevateur) {
|
||||||
this.pince = pince;
|
this.elevateur = elevateur;
|
||||||
addRequirements(pince);
|
addRequirements(elevateur);
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -24,19 +24,21 @@ public class DepartPince extends Command {
|
|||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void execute() {
|
public void execute() {
|
||||||
if(pince.position()==true){
|
if(elevateur.position()>=700 && elevateur.position()<=710){
|
||||||
pince.pivote(0);
|
elevateur.vitesse(0);
|
||||||
pince.reset();
|
}
|
||||||
|
else if(elevateur.position()>=510){
|
||||||
|
elevateur.vitesse(-0.5);
|
||||||
}
|
}
|
||||||
else{
|
else{
|
||||||
pince.pivote(.2);
|
elevateur.vitesse(.5);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@Override
|
@Override
|
||||||
public void end(boolean interrupted) {
|
public void end(boolean interrupted) {
|
||||||
pince.pivote(0);
|
elevateur.vitesse(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
@@ -2,22 +2,19 @@
|
|||||||
// 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.commands.requin;
|
package frc.robot.commands;
|
||||||
|
|
||||||
import java.util.function.DoubleSupplier;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
import frc.robot.subsystems.Requin;
|
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 */
|
/* 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 requin_manuel extends Command {
|
public class L4 extends Command {
|
||||||
/** Creates a new requin_manuel. */
|
private Elevateur elevateur;
|
||||||
private Requin requin;
|
/** Creates a new L2. */
|
||||||
private DoubleSupplier x;
|
public L4(Elevateur elevateur) {
|
||||||
public requin_manuel(Requin requin) {
|
this.elevateur = elevateur;
|
||||||
|
addRequirements(elevateur);
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
this.requin = requin;
|
|
||||||
addRequirements(requin);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called when the command is initially scheduled.
|
// Called when the command is initially scheduled.
|
||||||
@@ -27,23 +24,26 @@ public class requin_manuel extends Command {
|
|||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void execute() {
|
public void execute() {
|
||||||
if(requin.enHaut()){
|
if(elevateur.position()>=800 && elevateur.position()<=810){
|
||||||
requin.rotationer(0);
|
elevateur.vitesse(0);
|
||||||
|
}
|
||||||
|
else if(elevateur.position()>=810){
|
||||||
|
elevateur.vitesse(-0.5);
|
||||||
}
|
}
|
||||||
else{
|
else{
|
||||||
requin.rotationer(x.getAsDouble());
|
elevateur.vitesse(.5);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@Override
|
@Override
|
||||||
public void end(boolean interrupted) {
|
public void end(boolean interrupted) {
|
||||||
requin.rotationer(0);
|
elevateur.vitesse(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
@Override
|
@Override
|
||||||
public boolean isFinished() {
|
public boolean isFinished() {
|
||||||
return false;
|
return elevateur.position()>=800;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1,41 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,41 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,51 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,44 +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.commands.Pince;
|
|
||||||
|
|
||||||
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 Algue_inspire extends Command {
|
|
||||||
/** Creates a new Algue_inspire. */
|
|
||||||
private Pince pince;
|
|
||||||
public Algue_inspire(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.
|
|
||||||
|
|
||||||
//ajouter l'amperage pour arreter les moteurs
|
|
||||||
@Override
|
|
||||||
public void execute() {
|
|
||||||
pince.aspirealgue(0.5);
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,42 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,41 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,53 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,49 +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.commands.Pince;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,50 +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.commands.Pince;
|
|
||||||
import java.util.function.DoubleSupplier;
|
|
||||||
|
|
||||||
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;
|
|
||||||
private DoubleSupplier x;
|
|
||||||
/** Creates a new PinceManuel. */
|
|
||||||
public PinceManuel(Pince pince, DoubleSupplier x) {
|
|
||||||
this.pince = pince;
|
|
||||||
this.x = x;
|
|
||||||
//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(x.getAsDouble()/3.5);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,37 +0,0 @@
|
|||||||
// Copyright (c) FIRST and other WPILib contributors.
|
|
||||||
// Open Source Software; you can modify and/or share it under the terms of
|
|
||||||
// the WPILib BSD license file in the root directory of this project.
|
|
||||||
|
|
||||||
package frc.robot.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() {bougie.RainBow();}
|
|
||||||
|
|
||||||
// Called every time the scheduler runs while the command is scheduled.
|
|
||||||
@Override
|
|
||||||
public void execute() {}
|
|
||||||
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,77 +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.commands;
|
|
||||||
|
|
||||||
import edu.wpi.first.networktables.DoubleSubscriber;
|
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
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;
|
|
||||||
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
|
|
||||||
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
|
|
||||||
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
|
|
||||||
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
|
|
||||||
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
|
|
||||||
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
|
|
||||||
/** 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() {
|
|
||||||
double encodeurBase = encodeur1.get();
|
|
||||||
double encodeurhaute = encodeur2.get();
|
|
||||||
double encodeurbasp = encodeur3.get();
|
|
||||||
double encodeurhautp = encodeur4.get();
|
|
||||||
pince.aspirecoral(0.5);
|
|
||||||
if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
|
|
||||||
pince.pivote(0);
|
|
||||||
}
|
|
||||||
else if(pince.encodeurpivot()>=encodeurBase){
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,56 +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.commands.grimpeur;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,57 +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.commands.grimpeur;
|
|
||||||
|
|
||||||
import edu.wpi.first.networktables.DoubleSubscriber;
|
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
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;
|
|
||||||
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
|
|
||||||
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
|
|
||||||
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19);
|
|
||||||
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5);
|
|
||||||
/** 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() {
|
|
||||||
double encodeurbas = encodeur1.get();
|
|
||||||
double encodeurhaut = encodeur2.get();
|
|
||||||
if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
|
|
||||||
grimpeur.grimpe(0);
|
|
||||||
}
|
|
||||||
else if(grimpeur.encodeur()>=encodeurhaut){
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,51 +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.commands.grimpeur;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,39 +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.commands.grimpeur;
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,63 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Bougie;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 BalayeuseAlgue extends Command {
|
|
||||||
private Requin requin;
|
|
||||||
private Bougie bougie;
|
|
||||||
/** Creates a new Balayeuse. */
|
|
||||||
public BalayeuseAlgue(Requin requin, Bougie bougie) {
|
|
||||||
this.requin = requin;
|
|
||||||
this.bougie =bougie;
|
|
||||||
addRequirements(requin,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(requin.encodeur()>=500 && requin.encodeur()<=510)
|
|
||||||
{
|
|
||||||
requin.rotationer(0);
|
|
||||||
if(requin.amp()> 60){
|
|
||||||
requin.balaye(0);
|
|
||||||
bougie.Vert();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
requin.balaye(0.5);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if(requin.encodeur()>=510){
|
|
||||||
requin.rotationer(0.5);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.rotationer(-0.5);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.rotationer(0);
|
|
||||||
requin.balaye(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,40 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 BalayeuseBas extends Command {
|
|
||||||
private Requin requin;
|
|
||||||
/** Creates a new Balayeuse. */
|
|
||||||
public BalayeuseBas(Requin requin) {
|
|
||||||
this.requin = requin;
|
|
||||||
addRequirements(requin);
|
|
||||||
// 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() {
|
|
||||||
requin.rotationer(-0.5);
|
|
||||||
}
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.rotationer(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,67 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Bougie;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 BalayeuseCoral extends Command {
|
|
||||||
private Requin requin;
|
|
||||||
private Bougie bougie;
|
|
||||||
/** Creates a new Balayeuse. */
|
|
||||||
public BalayeuseCoral(Requin requin, Bougie bougie) {
|
|
||||||
this.requin = requin;
|
|
||||||
this.bougie = bougie;
|
|
||||||
addRequirements(requin,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(requin.encodeur()>=100 && requin.encodeur()<=110){
|
|
||||||
requin.rotationer(0);
|
|
||||||
if(requin.amp()>60){
|
|
||||||
requin.balaye(0);
|
|
||||||
bougie.Vert();
|
|
||||||
if(requin.enHaut()){
|
|
||||||
requin.rotationer(0);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.rotationer(0.5);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.balaye(0.5);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if(requin.encodeur()>=110){
|
|
||||||
requin.rotationer(0.5);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.rotationer(-0.5);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.rotationer(0);
|
|
||||||
requin.balaye(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,47 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 BalayeuseHaut extends Command {
|
|
||||||
private Requin requin;
|
|
||||||
/** Creates a new Balayeuse. */
|
|
||||||
public BalayeuseHaut(Requin requin) {
|
|
||||||
this.requin = requin;
|
|
||||||
addRequirements(requin);
|
|
||||||
// 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(requin.enHaut()==true){
|
|
||||||
requin.rotationer(0);
|
|
||||||
requin.reset();
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.rotationer(-0.5);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.rotationer(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,41 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 ExpireAlgue extends Command {
|
|
||||||
private Requin requin;
|
|
||||||
/** Creates a new ExpireAlgue. */
|
|
||||||
public ExpireAlgue(Requin requin) {
|
|
||||||
this.requin = requin;
|
|
||||||
addRequirements(requin);
|
|
||||||
// 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() {
|
|
||||||
requin.balaye(0.5);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.balaye(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,65 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Bougie;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 L1Requin extends Command {
|
|
||||||
private Requin requin;
|
|
||||||
private Bougie bougie;
|
|
||||||
/** Creates a new Balayeuse. */
|
|
||||||
public L1Requin(Requin requin,Bougie bougie) {
|
|
||||||
this.requin = requin;
|
|
||||||
this.bougie = bougie;
|
|
||||||
addRequirements(requin,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(requin.encodeur()>=800 && requin.encodeur()<=810){
|
|
||||||
requin.rotationer(0);
|
|
||||||
if(requin.amp()>8){
|
|
||||||
requin.balaye(-0.5);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.balaye(0);
|
|
||||||
bougie.Rouge();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if(requin.encodeur()>=810){
|
|
||||||
requin.rotationer(0.5);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
requin.rotationer(-0.5);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.rotationer(0);
|
|
||||||
requin.balaye(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,41 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 aspire extends Command {
|
|
||||||
/** Creates a new aspire. */
|
|
||||||
private Requin requin;
|
|
||||||
public aspire(Requin requin) {
|
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
|
||||||
this.requin = requin;
|
|
||||||
addRequirements(requin);
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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() {
|
|
||||||
requin.balaye(0.3);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.balaye(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,41 +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.commands.requin;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc.robot.subsystems.Requin;
|
|
||||||
|
|
||||||
/* 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 exspire extends Command {
|
|
||||||
/** Creates a new aspire. */
|
|
||||||
private Requin requin;
|
|
||||||
public exspire(Requin requin) {
|
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
|
||||||
this.requin = requin;
|
|
||||||
addRequirements(requin);
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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() {
|
|
||||||
requin.balaye(-0.3);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
requin.balaye(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,56 +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 com.ctre.phoenix.led.CANdle;
|
|
||||||
import com.ctre.phoenix.led.CANdleConfiguration;
|
|
||||||
import com.ctre.phoenix.led.RainbowAnimation;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
|
||||||
|
|
||||||
public class Bougie extends SubsystemBase {
|
|
||||||
CANdle candle = new CANdle(23);
|
|
||||||
CANdleConfiguration config = new CANdleConfiguration();
|
|
||||||
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
|
|
||||||
/** Creates a new Bougie. */
|
|
||||||
public Bougie() {
|
|
||||||
config.brightnessScalar = 0.5;
|
|
||||||
candle.configAllSettings(config);
|
|
||||||
}
|
|
||||||
public void Rouge() {
|
|
||||||
candle.setLEDs(255, 0, 0,0,8,8);
|
|
||||||
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() {
|
|
||||||
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() {
|
|
||||||
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 RainBowStop(){
|
|
||||||
candle.animate(null);
|
|
||||||
}
|
|
||||||
@Override
|
|
||||||
public void periodic() {
|
|
||||||
// This method will be called once per scheduler run
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,295 +0,0 @@
|
|||||||
package frc.robot.subsystems;
|
|
||||||
|
|
||||||
import static edu.wpi.first.units.Units.*;
|
|
||||||
|
|
||||||
import java.util.function.Supplier;
|
|
||||||
import com.ctre.phoenix6.SignalLogger;
|
|
||||||
import com.ctre.phoenix6.Utils;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
|
|
||||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
|
||||||
import com.pathplanner.lib.auto.AutoBuilder;
|
|
||||||
import com.pathplanner.lib.config.PIDConstants;
|
|
||||||
import com.pathplanner.lib.config.RobotConfig;
|
|
||||||
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
|
|
||||||
import edu.wpi.first.math.Matrix;
|
|
||||||
import edu.wpi.first.math.geometry.Rotation2d;
|
|
||||||
import edu.wpi.first.math.numbers.N1;
|
|
||||||
import edu.wpi.first.math.numbers.N3;
|
|
||||||
import edu.wpi.first.wpilibj.DriverStation;
|
|
||||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
|
||||||
import edu.wpi.first.wpilibj.Notifier;
|
|
||||||
import edu.wpi.first.wpilibj.RobotController;
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import edu.wpi.first.wpilibj2.command.Subsystem;
|
|
||||||
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
|
|
||||||
import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Class that extends the Phoenix 6 SwerveDrivetrain class and implements
|
|
||||||
* Subsystem so it can easily be used in command-based projeScts.
|
|
||||||
*/
|
|
||||||
public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
|
|
||||||
|
|
||||||
private static final double kSimLoopPeriod = 0.005; // 5 ms
|
|
||||||
private Notifier m_simNotifier = null;
|
|
||||||
private double m_lastSimTime;
|
|
||||||
|
|
||||||
/* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
|
|
||||||
private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
|
|
||||||
/* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
|
|
||||||
private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
|
|
||||||
/* Keep track if we've ever applied the operator perspective before or not */
|
|
||||||
private boolean m_hasAppliedOperatorPerspective = false;
|
|
||||||
|
|
||||||
private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
|
|
||||||
|
|
||||||
/* Swerve requests to apply during SysId characterization */
|
|
||||||
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
|
|
||||||
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
|
|
||||||
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. */
|
|
||||||
|
|
||||||
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
|
|
||||||
new SysIdRoutine.Config(
|
|
||||||
null, // Use default ramp rate (1 V/s)
|
|
||||||
Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
|
|
||||||
null, // Use default timeout (10 s)
|
|
||||||
// Log state with SignalLogger class
|
|
||||||
state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
|
|
||||||
),
|
|
||||||
new SysIdRoutine.Mechanism(
|
|
||||||
output -> setControl(m_translationCharacterization.withVolts(output)),
|
|
||||||
null,
|
|
||||||
this
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
/* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
|
|
||||||
private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
|
|
||||||
new SysIdRoutine.Config(
|
|
||||||
null, // Use default ramp rate (1 V/s)
|
|
||||||
Volts.of(7), // Use dynamic voltage of 7 V
|
|
||||||
null, // Use default timeout (10 s)
|
|
||||||
// Log state with SignalLogger class
|
|
||||||
state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
|
|
||||||
),
|
|
||||||
new SysIdRoutine.Mechanism(
|
|
||||||
volts -> setControl(m_steerCharacterization.withVolts(volts)),
|
|
||||||
null,
|
|
||||||
this
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
/*
|
|
||||||
* SysId routine for characterizing rotation.
|
|
||||||
* This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
|
|
||||||
* See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
|
|
||||||
*/
|
|
||||||
private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
|
|
||||||
new SysIdRoutine.Config(
|
|
||||||
/* This is in radians per second², but SysId only supports "volts per second" */
|
|
||||||
Volts.of(Math.PI / 6).per(Second),
|
|
||||||
/* This is in radians per second, but SysId only supports "volts" */
|
|
||||||
Volts.of(Math.PI),
|
|
||||||
null, // Use default timeout (10 s)
|
|
||||||
// Log state with SignalLogger class
|
|
||||||
state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
|
|
||||||
),
|
|
||||||
new SysIdRoutine.Mechanism(
|
|
||||||
output -> {
|
|
||||||
/* output is actually radians per second, but SysId only supports "volts" */
|
|
||||||
setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
|
|
||||||
/* also log the requested output for SysId */
|
|
||||||
SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
|
|
||||||
},
|
|
||||||
null,
|
|
||||||
this
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
private void configureAutoBuilder() {
|
|
||||||
try {
|
|
||||||
var config = RobotConfig.fromGUISettings();
|
|
||||||
AutoBuilder.configure(
|
|
||||||
() -> getState().Pose, // Supplier of current robot pose
|
|
||||||
this::resetPose, // Consumer for seeding pose against auto
|
|
||||||
() -> getState().Speeds, // Supplier of current robot speeds
|
|
||||||
// Consumer of ChassisSpeeds and feedforwards to drive the robot
|
|
||||||
(speeds, feedforwards) -> setControl(
|
|
||||||
m_pathApplyRobotSpeeds.withSpeeds(speeds)
|
|
||||||
.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
|
|
||||||
.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
|
|
||||||
),
|
|
||||||
new PPHolonomicDriveController(
|
|
||||||
// PID constants for translation
|
|
||||||
new PIDConstants(63.167, 0, 0.54521),
|
|
||||||
// PID constants for rotation
|
|
||||||
new PIDConstants(7.9735, 0, 0.038499)
|
|
||||||
),
|
|
||||||
config,
|
|
||||||
// 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) {
|
|
||||||
DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
|
|
||||||
}
|
|
||||||
PPHolonomicDriveController.overrideRotationFeedback(()->{
|
|
||||||
return 0;
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
/* The SysId routine to test */
|
|
||||||
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
|
||||||
* <p>
|
|
||||||
* This constructs the underlying hardware devices, so users should not construct
|
|
||||||
* the devices themselves. If they need the devices, they can access them through
|
|
||||||
* getters in the classes.
|
|
||||||
*
|
|
||||||
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
|
|
||||||
* @param modules Constants for each specific module
|
|
||||||
*/
|
|
||||||
public CommandSwerveDrivetrain(
|
|
||||||
SwerveDrivetrainConstants drivetrainConstants,
|
|
||||||
SwerveModuleConstants<?, ?, ?>... modules
|
|
||||||
) {
|
|
||||||
super(drivetrainConstants, modules);
|
|
||||||
if (Utils.isSimulation()) {
|
|
||||||
startSimThread();
|
|
||||||
}
|
|
||||||
configureAutoBuilder();
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
|
||||||
* <p>
|
|
||||||
* This constructs the underlying hardware devices, so users should not construct
|
|
||||||
* the devices themselves. If they need the devices, they can access them through
|
|
||||||
* getters in the classes.
|
|
||||||
*
|
|
||||||
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
|
|
||||||
* @param odometryUpdateFrequency The frequency to run the odometry loop. If
|
|
||||||
* unspecified or set to 0 Hz, this is 250 Hz on
|
|
||||||
* CAN FD, and 100 Hz on CAN 2.0.
|
|
||||||
* @param modules Constants for each specific module
|
|
||||||
*/
|
|
||||||
public CommandSwerveDrivetrain(
|
|
||||||
SwerveDrivetrainConstants drivetrainConstants,
|
|
||||||
double odometryUpdateFrequency,
|
|
||||||
SwerveModuleConstants<?, ?, ?>... modules
|
|
||||||
) {
|
|
||||||
super(drivetrainConstants, odometryUpdateFrequency, modules);
|
|
||||||
if (Utils.isSimulation()) {
|
|
||||||
startSimThread();
|
|
||||||
}
|
|
||||||
configureAutoBuilder();
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Constructs a CTRE SwerveDrivetrain using the specified constants.
|
|
||||||
* <p>
|
|
||||||
* This constructs the underlying hardware devices, so users should not construct
|
|
||||||
* the devices themselves. If they need the devices, they can access them through
|
|
||||||
* getters in the classes.
|
|
||||||
*
|
|
||||||
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
|
|
||||||
* @param odometryUpdateFrequency The frequency to run the odometry loop. If
|
|
||||||
* unspecified or set to 0 Hz, this is 250 Hz on
|
|
||||||
* CAN FD, and 100 Hz on CAN 2.0.
|
|
||||||
* @param odometryStandardDeviation The standard deviation for odometry calculation
|
|
||||||
* in the form [x, y, theta]ᵀ, with units in meters
|
|
||||||
* and radians
|
|
||||||
* @param visionStandardDeviation The standard deviation for vision calculation
|
|
||||||
* in the form [x, y, theta]ᵀ, with units in meters
|
|
||||||
* and radians
|
|
||||||
* @param modules Constants for each specific module
|
|
||||||
*/
|
|
||||||
public CommandSwerveDrivetrain(
|
|
||||||
SwerveDrivetrainConstants drivetrainConstants,
|
|
||||||
double odometryUpdateFrequency,
|
|
||||||
Matrix<N3, N1> odometryStandardDeviation,
|
|
||||||
Matrix<N3, N1> visionStandardDeviation,
|
|
||||||
SwerveModuleConstants<?, ?, ?>... modules
|
|
||||||
) {
|
|
||||||
super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, modules);
|
|
||||||
if (Utils.isSimulation()) {
|
|
||||||
startSimThread();
|
|
||||||
}
|
|
||||||
configureAutoBuilder();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Returns a command that applies the specified control request to this swerve drivetrain.
|
|
||||||
*
|
|
||||||
* @param request Function returning the request to apply
|
|
||||||
* @return Command to run
|
|
||||||
*/
|
|
||||||
public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
|
|
||||||
return run(() -> this.setControl(requestSupplier.get()));
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Runs the SysId Quasistatic test in the given direction for the routine
|
|
||||||
* specified by {@link #m_sysIdRoutineToApply}.
|
|
||||||
*
|
|
||||||
* @param direction Direction of the SysId Quasistatic test
|
|
||||||
* @return Command to run
|
|
||||||
*/
|
|
||||||
public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
|
|
||||||
return m_sysIdRoutineToApply.quasistatic(direction);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Runs the SysId Dynamic test in the given direction for the routine
|
|
||||||
* specified by {@link #m_sysIdRoutineToApply}.
|
|
||||||
*
|
|
||||||
* @param direction Direction of the SysId Dynamic test
|
|
||||||
* @return Command to run
|
|
||||||
*/
|
|
||||||
public Command sysIdDynamic(SysIdRoutine.Direction direction) {
|
|
||||||
return m_sysIdRoutineToApply.dynamic(direction);
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void periodic() {
|
|
||||||
/*
|
|
||||||
* Periodically try to apply the operator perspective.
|
|
||||||
* If we haven't applied the operator perspective before, then we should apply it regardless of DS state.
|
|
||||||
* This allows us to correct the perspective in case the robot code restarts mid-match.
|
|
||||||
* Otherwise, only check and apply the operator perspective if the DS is disabled.
|
|
||||||
* This ensures driving behavior doesn't change until an explicit disable event occurs during testing.
|
|
||||||
*/
|
|
||||||
if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
|
|
||||||
DriverStation.getAlliance().ifPresent(allianceColor -> {
|
|
||||||
setOperatorPerspectiveForward(
|
|
||||||
allianceColor == Alliance.Red
|
|
||||||
? kRedAlliancePerspectiveRotation
|
|
||||||
: kBlueAlliancePerspectiveRotation
|
|
||||||
);
|
|
||||||
m_hasAppliedOperatorPerspective = true;
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private void startSimThread() {
|
|
||||||
m_lastSimTime = Utils.getCurrentTimeSeconds();
|
|
||||||
|
|
||||||
/* Run simulation at a faster rate so PID gains behave more reasonably */
|
|
||||||
m_simNotifier = new Notifier(() -> {
|
|
||||||
final double currentTime = Utils.getCurrentTimeSeconds();
|
|
||||||
double deltaTime = currentTime - m_lastSimTime;
|
|
||||||
m_lastSimTime = currentTime;
|
|
||||||
|
|
||||||
/* use the measured time delta, get battery voltage from WPILib */
|
|
||||||
updateSimState(deltaTime, RobotController.getBatteryVoltage());
|
|
||||||
});
|
|
||||||
m_simNotifier.startPeriodic(kSimLoopPeriod);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -4,23 +4,15 @@
|
|||||||
|
|
||||||
package frc.robot.subsystems;
|
package frc.robot.subsystems;
|
||||||
|
|
||||||
import edu.wpi.first.networktables.GenericEntry;
|
|
||||||
import edu.wpi.first.wpilibj.DigitalInput;
|
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;
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
import com.revrobotics.spark.SparkMax;
|
import com.revrobotics.spark.SparkMax;
|
||||||
import com.revrobotics.spark.SparkLowLevel.MotorType;
|
import com.revrobotics.spark.SparkLowLevel.MotorType;
|
||||||
public class Elevateur extends SubsystemBase {
|
public class Elevateur extends SubsystemBase {
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
|
||||||
/** Creates a new Elevateur. */
|
/** Creates a new Elevateur. */
|
||||||
public Elevateur() {
|
public Elevateur() {}
|
||||||
teb.addDouble("encodeur elevateur",this::position);
|
|
||||||
teb.addBoolean("limit elevateur", this::limit2);
|
|
||||||
}
|
|
||||||
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
|
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
|
||||||
final DigitalInput limit2 = new DigitalInput(0);
|
final DigitalInput limit2 = new DigitalInput(0);
|
||||||
|
|
||||||
public double position(){
|
public double position(){
|
||||||
return monte.getEncoder().getPosition();
|
return monte.getEncoder().getPosition();
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -4,34 +4,20 @@
|
|||||||
|
|
||||||
package frc.robot.subsystems;
|
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.DigitalInput;
|
||||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
||||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
|
|
||||||
public class Grimpeur extends SubsystemBase {
|
public class Grimpeur extends SubsystemBase {
|
||||||
/** Creates a new Grimpeur. */
|
/** Creates a new Grimpeur. */
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
public Grimpeur() {}
|
||||||
public Grimpeur() {
|
final Spark grimpeur = new Spark(0);
|
||||||
teb.addBoolean("limit grimpeur", this::stop);
|
final DigitalInput limit1 = new DigitalInput(0);
|
||||||
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){
|
public void grimpe(double vitesse){
|
||||||
grimpeur.set(vitesse);
|
grimpeur.set(vitesse);
|
||||||
}
|
}
|
||||||
public boolean stop(){
|
final void stop(){
|
||||||
return limit1.get();
|
limit1.get();
|
||||||
}
|
|
||||||
public double encodeur(){
|
|
||||||
return grimpeur.getEncoder().getPosition();
|
|
||||||
}
|
|
||||||
public void reset(){
|
|
||||||
grimpeur.getEncoder().setPosition(0);
|
|
||||||
}
|
}
|
||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
|
|||||||
@@ -1,39 +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.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
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,28 +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.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
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,65 +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 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.wpilibj.shuffleboard.ShuffleboardTab;
|
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
|
||||||
|
|
||||||
public class Pince extends SubsystemBase {
|
|
||||||
/** Creates a new Pince. */
|
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
|
||||||
public Pince() {
|
|
||||||
teb.addBoolean("limit pince",this::position);
|
|
||||||
teb.addDouble("encodeur pince", this::encodeurpivot);
|
|
||||||
}
|
|
||||||
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(9);
|
|
||||||
|
|
||||||
|
|
||||||
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
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,48 +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 com.revrobotics.spark.SparkFlex;
|
|
||||||
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 Requin extends SubsystemBase {
|
|
||||||
/** Creates a new Requin. */
|
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
|
||||||
public Requin() {
|
|
||||||
teb.addBoolean("limit requin", this::enHaut);
|
|
||||||
}
|
|
||||||
|
|
||||||
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
|
|
||||||
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
|
|
||||||
final DigitalInput limit3 = new DigitalInput(1);
|
|
||||||
|
|
||||||
public void balaye(double vitesse){
|
|
||||||
balaye.set(vitesse);
|
|
||||||
}
|
|
||||||
public void rotationer(double vitesse){
|
|
||||||
rotatione.set(vitesse);
|
|
||||||
}
|
|
||||||
public boolean enHaut(){
|
|
||||||
return limit3.get();
|
|
||||||
}
|
|
||||||
public double encodeur(){
|
|
||||||
return rotatione.getEncoder().getPosition();
|
|
||||||
}
|
|
||||||
public void reset(){
|
|
||||||
rotatione.getEncoder().setPosition(0);
|
|
||||||
}
|
|
||||||
public double amp(){
|
|
||||||
return balaye.getOutputCurrent();
|
|
||||||
}
|
|
||||||
@Override
|
|
||||||
public void periodic() {
|
|
||||||
// This method will be called once per scheduler run
|
|
||||||
}
|
|
||||||
}
|
|
||||||
File diff suppressed because one or more lines are too long
@@ -1,7 +1,7 @@
|
|||||||
{
|
{
|
||||||
"fileName": "PathplannerLib-2025.2.3.json",
|
"fileName": "PathplannerLib-2025.2.2.json",
|
||||||
"name": "PathplannerLib",
|
"name": "PathplannerLib",
|
||||||
"version": "2025.2.3",
|
"version": "2025.2.2",
|
||||||
"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": "2025.2.3"
|
"version": "2025.2.2"
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"jniDependencies": [],
|
"jniDependencies": [],
|
||||||
@@ -20,7 +20,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.pathplanner.lib",
|
"groupId": "com.pathplanner.lib",
|
||||||
"artifactId": "PathplannerLib-cpp",
|
"artifactId": "PathplannerLib-cpp",
|
||||||
"version": "2025.2.3",
|
"version": "2025.2.2",
|
||||||
"libName": "PathplannerLib",
|
"libName": "PathplannerLib",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": false,
|
"sharedLibrary": false,
|
||||||
@@ -1,7 +1,7 @@
|
|||||||
{
|
{
|
||||||
"fileName": "Phoenix6-25.2.2.json",
|
"fileName": "Phoenix6-25.2.1.json",
|
||||||
"name": "CTRE-Phoenix (v6)",
|
"name": "CTRE-Phoenix (v6)",
|
||||||
"version": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2"
|
"version": "25.2.1"
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"jniDependencies": [
|
"jniDependencies": [
|
||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6",
|
"groupId": "com.ctre.phoenix6",
|
||||||
"artifactId": "api-cpp",
|
"artifactId": "api-cpp",
|
||||||
"version": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"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": "25.2.2",
|
"version": "25.2.1",
|
||||||
"libName": "CTRE_SimProCANrange",
|
"libName": "CTRE_SimProCANrange",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
Reference in New Issue
Block a user