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compare: PLS5618:Led
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PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

7 Commits
requin ... 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
36 changed files with 1809 additions and 670 deletions
Expand all files Collapse all files

109
simgui-ds.json
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@ -1,109 +0,0 @@
{
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"visible": false
}
},
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{
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57
src/main/deploy/pathplanner/autos/BlueBas1.auto Normal file
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@ -0,0 +1,57 @@
{
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151
src/main/deploy/pathplanner/autos/BlueBas2.auto Normal file
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@ -0,0 +1,151 @@
{
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245
src/main/deploy/pathplanner/autos/BlueBas3.auto Normal file
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@ -0,0 +1,245 @@
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57
src/main/deploy/pathplanner/autos/BlueHaut1.auto Normal file
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@ -0,0 +1,57 @@
{
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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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87
src/main/deploy/pathplanner/autos/MilieuAlgue.auto Normal file
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@ -0,0 +1,87 @@
{
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57
src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto Normal file
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@ -0,0 +1,57 @@
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19
src/main/deploy/pathplanner/autos/Sortir.auto Normal file
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@ -0,0 +1,19 @@
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1
src/main/deploy/pathplanner/navgrid.json Normal file
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File diff suppressed because one or more lines are too long

70
src/main/deploy/pathplanner/paths/BlueBasChercher.path Normal file
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@ -0,0 +1,70 @@
{
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54
src/main/deploy/pathplanner/paths/BlueBasChercher2.path Normal file
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@ -0,0 +1,54 @@
{
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54
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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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54
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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@ -0,0 +1,32 @@
{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 74.088,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.35,
"flModuleY": 0.267,
"frModuleX": 0.35,
"frModuleY": -0.267,
"blModuleX": -0.35,
"blModuleY": 0.267,
"brModuleX": -0.35,
"brModuleY": -0.267,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": []
}

30
src/main/java/frc/robot/subsystems/Bougie.java → src/main/java/frc/robot/Bougie.java
View File

@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of // Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems; package frc.robot;
import com.ctre.phoenix.led.CANdle; import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.CANdleConfiguration; import com.ctre.phoenix.led.CANdleConfiguration;
@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Bougie extends SubsystemBase { public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(23); CANdle candle = new CANdle(5);
CANdleConfiguration config = new CANdleConfiguration(); CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
/** Creates a new Bougie. */ /** Creates a new Bougie. */
@ -20,34 +20,18 @@ public class Bougie extends SubsystemBase {
candle.configAllSettings(config); candle.configAllSettings(config);
} }
public void Rouge() { public void Rouge() {
candle.setLEDs(255, 0, 0,0,8,8); candle.setLEDs(255, 0, 0);
candle.setLEDs(255, 0, 0,0,24,8);
candle.setLEDs(255, 0, 0,0,40,8);
candle.setLEDs(255, 0, 0,0,56,8);
} }
public void Vert() { public void Vert() {
candle.setLEDs(0, 255, 0,0,8,8); candle.setLEDs(0, 255, 0);
candle.setLEDs(0, 255, 0,0,24,8);
candle.setLEDs(0, 255, 0,0,40,8);
candle.setLEDs(0, 255, 0,0,56,8);
} }
public void Bleu() { public void Bleu() {
candle.setLEDs(0, 0, 255,0,16,8); candle.setLEDs(0, 0, 255);
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() { public void RainBow(){candle.animate(rainbowAnim);}
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 @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
} }
} }

72
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,46 +4,46 @@
package frc.robot; package frc.robot;
import edu.wpi.first.math.MathUtil; 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.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.BalayeuseAlgue; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
import frc.robot.commands.BalayeuseBas;
import frc.robot.commands.BalayeuseCoral;
import frc.robot.commands.BalayeuseHaut;
import frc.robot.commands.L1Requin;
import frc.robot.commands.aspire;
import frc.robot.commands.exspire;
import frc.robot.commands.requin_manuel;
import frc.robot.subsystems.Requin;
import frc.robot.subsystems.Bougie;
import frc.robot.commands.aspire;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
Requin requin = new Requin();
Bougie bougie = new Bougie();
aspire aspire = new aspire(requin);
requin_manuel requin_manuel = new requin_manuel(requin);
public RobotContainer() {
configureBindings();
requin.setDefaultCommand(new RunCommand(()->{
requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
}, requin));
}
private void configureBindings() { private final CommandXboxController joystick = new CommandXboxController(0);
manette2.a().whileTrue(new aspire(requin));
manette2.rightTrigger().whileTrue(new exspire(requin));
manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
manette2.y().whileTrue(new L1Requin(requin,bougie));
manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
public RobotContainer() {
configureBindings();
}
private void configureBindings() {
}
public Command getAutonomousCommand() {
return Commands.print("");
}
} }

63
src/main/java/frc/robot/commands/BalayeuseAlgue.java
View File

@ -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;
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;
}
}

40
src/main/java/frc/robot/commands/BalayeuseBas.java
View File

@ -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;
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;
}
}

67
src/main/java/frc/robot/commands/BalayeuseCoral.java
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@ -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;
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;
}
}

47
src/main/java/frc/robot/commands/BalayeuseHaut.java
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@ -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;
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;
}
}

41
src/main/java/frc/robot/commands/ExpireAlgue.java
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@ -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;
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;
}
}

65
src/main/java/frc/robot/commands/L1Requin.java
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@ -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;
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;
}
}

41
src/main/java/frc/robot/commands/aspire.java
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@ -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;
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;
}
}

41
src/main/java/frc/robot/commands/exspire.java
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@ -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;
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;
}
}

49
src/main/java/frc/robot/commands/requin_manuel.java
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@ -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;
import java.util.function.DoubleSupplier;
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 requin_manuel extends Command {
/** Creates a new requin_manuel. */
private Requin requin;
private DoubleSupplier x;
public requin_manuel(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() {
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(x.getAsDouble());
}
}
// 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;
}
}

48
src/main/java/frc/robot/subsystems/Requin.java
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@ -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
}
}