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merge into: PLS5618:pince
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PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led
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pull from: PLS5618:Led
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PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

7 Commits
pince ... Led

Author SHA1 Message Date
samuel desharnais
1e962b904f led subsystem 2025-02-06 17:36:44 -05:00
samuel desharnais
1297645917 menage 2025-02-04 18:20:17 -05:00
samuel desharnais
a5df627b64 oups 2025-01-30 19:20:09 -05:00
samuel desharnais
b0ce8aaad7 Modes Autos complets 2025-01-30 19:18:56 -05:00
samuel desharnais
76ea02c3dd MODES AUTO FAITSES 2025-01-29 20:19:13 -05:00
samuel desharnais
773e3b2244 pathplanner 2025-01-29 19:23:28 -05:00
samuel desharnais
4b0262fa4d Swerve + commencer pathplanner 2025-01-27 20:15:31 -05:00
26 changed files with 1839 additions and 33 deletions
Expand all files Collapse all files

57
src/main/deploy/pathplanner/autos/BlueBas1.auto Normal file
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src/main/deploy/pathplanner/autos/BlueBas2.auto Normal file
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245
src/main/deploy/pathplanner/autos/BlueBas3.auto Normal file
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57
src/main/deploy/pathplanner/autos/BlueHaut1.auto Normal file
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151
src/main/deploy/pathplanner/autos/BlueHaut2.auto Normal file
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@ -0,0 +1,151 @@
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245
src/main/deploy/pathplanner/autos/BlueHaut3.auto Normal file
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@ -0,0 +1,245 @@
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src/main/deploy/pathplanner/autos/MilieuAlgue.auto Normal file
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@ -0,0 +1,87 @@
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src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto Normal file
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src/main/deploy/pathplanner/autos/Sortir.auto Normal file
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1
src/main/deploy/pathplanner/navgrid.json Normal file
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70
src/main/deploy/pathplanner/paths/BlueBasChercher.path Normal file
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src/main/deploy/pathplanner/paths/BlueBasChercher2.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueBasPorter.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueBasPorter2.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueBasStart.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueHautChercher.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueHautChercher2.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueHautPorter.path Normal file
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src/main/deploy/pathplanner/paths/BlueHautPorter2.path Normal file
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src/main/deploy/pathplanner/paths/BlueHautStart.path Normal file
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54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path Normal file
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54
src/main/deploy/pathplanner/paths/Sortir.path Normal file
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32
src/main/deploy/pathplanner/settings.json Normal file
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{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 74.088,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.35,
"flModuleY": 0.267,
"frModuleX": 0.35,
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"blModuleX": -0.35,
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"brModuleX": -0.35,
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"bumperOffsetX": 0.0,
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"robotFeatures": []
}

37
src/main/java/frc/robot/Bougie.java Normal file
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@ -0,0 +1,37 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.CANdleConfiguration;
import com.ctre.phoenix.led.RainbowAnimation;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(5);
CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
/** Creates a new Bougie. */
public Bougie() {
config.brightnessScalar = 0.5;
candle.configAllSettings(config);
}
public void Rouge() {
candle.setLEDs(255, 0, 0);
}
public void Vert() {
candle.setLEDs(0, 255, 0);
}
public void Bleu() {
candle.setLEDs(0, 0, 255);
}
public void RainBow(){candle.animate(rainbowAnim);}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

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

@ -4,17 +4,46 @@
package frc.robot;
import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
public class RobotContainer {
public RobotContainer() {
configureBindings();
}
private void configureBindings() {}
private final CommandXboxController joystick = new CommandXboxController(0);
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
public RobotContainer() {
configureBindings();
}
private void configureBindings() {
}
public Command getAutonomousCommand() {
return Commands.print("");
}
}

26
src/main/java/frc/robot/subsystems/Grimpeur.java
View File

@ -1,26 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */
public Grimpeur() {}
final Spark grimpeur = new Spark(0);
final DigitalInput limit1 = new DigitalInput(0);
public void grimpe(double vitesse){
grimpeur.set(vitesse);
}
final void stop(){
limit1.get();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}