Compare commits
7 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 1e962b904f | |||
| 1297645917 | |||
| a5df627b64 | |||
| b0ce8aaad7 | |||
| 76ea02c3dd | |||
| 773e3b2244 | |||
| 4b0262fa4d |
109
simgui-ds.json
109
simgui-ds.json
@ -1,109 +0,0 @@
|
||||
{
|
||||
"FMS": {
|
||||
"window": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"Joysticks": {
|
||||
"window": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"keyboardJoysticks": [
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 65,
|
||||
"incKey": 68
|
||||
},
|
||||
{
|
||||
"decKey": 87,
|
||||
"incKey": 83
|
||||
},
|
||||
{
|
||||
"decKey": 69,
|
||||
"decayRate": 0.0,
|
||||
"incKey": 82,
|
||||
"keyRate": 0.009999999776482582
|
||||
}
|
||||
],
|
||||
"axisCount": 3,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
90,
|
||||
88,
|
||||
67,
|
||||
86
|
||||
],
|
||||
"povConfig": [
|
||||
{
|
||||
"key0": 328,
|
||||
"key135": 323,
|
||||
"key180": 322,
|
||||
"key225": 321,
|
||||
"key270": 324,
|
||||
"key315": 327,
|
||||
"key45": 329,
|
||||
"key90": 326
|
||||
}
|
||||
],
|
||||
"povCount": 1
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 74,
|
||||
"incKey": 76
|
||||
},
|
||||
{
|
||||
"decKey": 73,
|
||||
"incKey": 75
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
77,
|
||||
44,
|
||||
46,
|
||||
47
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 263,
|
||||
"incKey": 262
|
||||
},
|
||||
{
|
||||
"decKey": 265,
|
||||
"incKey": 264
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 6,
|
||||
"buttonKeys": [
|
||||
260,
|
||||
268,
|
||||
266,
|
||||
261,
|
||||
269,
|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{},
|
||||
{
|
||||
"guid": "78696e70757401000000000000000000",
|
||||
"useGamepad": true
|
||||
}
|
||||
]
|
||||
}
|
||||
57
src/main/deploy/pathplanner/autos/BlueBas1.auto
Normal file
57
src/main/deploy/pathplanner/autos/BlueBas1.auto
Normal file
@ -0,0 +1,57 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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
|
||||
}
|
||||
151
src/main/deploy/pathplanner/autos/BlueBas2.auto
Normal file
151
src/main/deploy/pathplanner/autos/BlueBas2.auto
Normal file
@ -0,0 +1,151 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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": "BlueBasChercher"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "Station"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
245
src/main/deploy/pathplanner/autos/BlueBas3.auto
Normal file
245
src/main/deploy/pathplanner/autos/BlueBas3.auto
Normal file
@ -0,0 +1,245 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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": "BlueBasChercher"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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
|
||||
}
|
||||
57
src/main/deploy/pathplanner/autos/BlueHaut1.auto
Normal file
57
src/main/deploy/pathplanner/autos/BlueHaut1.auto
Normal file
@ -0,0 +1,57 @@
|
||||
{
|
||||
"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
|
||||
}
|
||||
151
src/main/deploy/pathplanner/autos/BlueHaut2.auto
Normal file
151
src/main/deploy/pathplanner/autos/BlueHaut2.auto
Normal file
@ -0,0 +1,151 @@
|
||||
{
|
||||
"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"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralInspire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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
|
||||
}
|
||||
245
src/main/deploy/pathplanner/autos/BlueHaut3.auto
Normal file
245
src/main/deploy/pathplanner/autos/BlueHaut3.auto
Normal file
@ -0,0 +1,245 @@
|
||||
{
|
||||
"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"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralInspire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 1.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueHautChercher2"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "Station"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralInspire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueHautPorter2"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
87
src/main/deploy/pathplanner/autos/MilieuAlgue.auto
Normal file
87
src/main/deploy/pathplanner/autos/MilieuAlgue.auto
Normal file
@ -0,0 +1,87 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueMilieuStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L3"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoraletAlgue"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
57
src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto
Normal file
57
src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto
Normal file
@ -0,0 +1,57 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueMilieuStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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
|
||||
}
|
||||
19
src/main/deploy/pathplanner/autos/Sortir.auto
Normal file
19
src/main/deploy/pathplanner/autos/Sortir.auto
Normal file
@ -0,0 +1,19 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "Sortir"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
1
src/main/deploy/pathplanner/navgrid.json
Normal file
1
src/main/deploy/pathplanner/navgrid.json
Normal file
File diff suppressed because one or more lines are too long
70
src/main/deploy/pathplanner/paths/BlueBasChercher.path
Normal file
70
src/main/deploy/pathplanner/paths/BlueBasChercher.path
Normal file
@ -0,0 +1,70 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.226639344262295,
|
||||
"y": 2.748309426229507
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 4.699180327868851,
|
||||
"y": 2.1728995901639334
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.296618852459016,
|
||||
"y": 1.6334528688524586
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 4.5553278688524586,
|
||||
"y": 1.9091700819672122
|
||||
},
|
||||
"nextControl": {
|
||||
"x": 2.853313965378558,
|
||||
"y": 1.5363479888253109
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.2227459016393443,
|
||||
"y": 1.141956967213115
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.2217919676666584,
|
||||
"y": 1.3902362024139756
|
||||
},
|
||||
"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": -125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueBasChercher2.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueBasChercher2.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.7761270491803276,
|
||||
"y": 2.7602971311475404
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 3.152766393442623,
|
||||
"y": 1.2138831967213104
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.1987704918032787,
|
||||
"y": 1.153944672131147
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.049897540983607,
|
||||
"y": 1.1899077868852443
|
||||
},
|
||||
"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": -125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 59.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueBasPorter.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueBasPorter.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.1987704918032787,
|
||||
"y": 1.153944672131147
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 2.1697745901639345,
|
||||
"y": 1.0820184426229504
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.788114754098361,
|
||||
"y": 2.7722848360655736
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 3.5483606557377048,
|
||||
"y": 1.1899077868852452
|
||||
},
|
||||
"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": 59.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueBasPorter2.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueBasPorter2.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.2107581967213117,
|
||||
"y": 1.141956967213115
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 3.392520491803279,
|
||||
"y": 1.7293545081967203
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 2.9969262295081966,
|
||||
"y": 4.019006147540983
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 1.738217213114754,
|
||||
"y": 3.5035348360655734
|
||||
},
|
||||
"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": 0.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueBasStart.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueBasStart.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.204610655737704,
|
||||
"y": 1.058043032786885
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 6.400623816881145,
|
||||
"y": 1.8077934662846444
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.214651639344262,
|
||||
"y": 2.7722848360655736
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.021565749152438,
|
||||
"y": 2.0272293626478377
|
||||
},
|
||||
"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": 119.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueHautChercher.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautChercher.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.262602459016393,
|
||||
"y": 5.33765368852459
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 4.567315573770491,
|
||||
"y": 6.272694672131147
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.3066598360655735,
|
||||
"y": 6.920030737704917
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.074600566094311,
|
||||
"y": 6.608197684403563
|
||||
},
|
||||
"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": 125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueHautChercher2.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautChercher2.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.728176229508197,
|
||||
"y": 5.277715163934426
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 3.6884488572050125,
|
||||
"y": 5.738000701502482
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.2946721311475409,
|
||||
"y": 6.88406762295082
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 1.5370661625758562,
|
||||
"y": 6.822870126858832
|
||||
},
|
||||
"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": 125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -59.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.2946721311475409,
|
||||
"y": 6.88406762295082
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 1.8197466808473133,
|
||||
"y": 6.152201615570423
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.7401639344262296,
|
||||
"y": 5.313678278688524
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.9533875048545335,
|
||||
"y": 6.158498893994983
|
||||
},
|
||||
"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": -59.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueHautPorter2.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautPorter2.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.2467213114754097,
|
||||
"y": 6.896055327868852
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 3.728176229508196,
|
||||
"y": 6.28468237704918
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 2.9969262295081966,
|
||||
"y": 3.9950307377049183
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.6372950819672134,
|
||||
"y": 4.906096311475409
|
||||
},
|
||||
"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": 0.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueHautStart.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautStart.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.22858606557377,
|
||||
"y": 7.075870901639344
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 5.75022271481963,
|
||||
"y": 5.75328924697144
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.226639344262295,
|
||||
"y": 5.313678278688524
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.307613733266616,
|
||||
"y": 6.263998815998496
|
||||
},
|
||||
"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": -119.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"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
|
||||
}
|
||||
54
src/main/deploy/pathplanner/paths/Sortir.path
Normal file
54
src/main/deploy/pathplanner/paths/Sortir.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.504303278688524,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 7.084733606557376,
|
||||
"y": 6.488473360655737
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.849999999999999,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.32950819672131,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"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
|
||||
}
|
||||
32
src/main/deploy/pathplanner/settings.json
Normal file
32
src/main/deploy/pathplanner/settings.json
Normal file
@ -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": []
|
||||
}
|
||||
@ -2,7 +2,7 @@
|
||||
// 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;
|
||||
package frc.robot;
|
||||
|
||||
import com.ctre.phoenix.led.CANdle;
|
||||
import com.ctre.phoenix.led.CANdleConfiguration;
|
||||
@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
public class Bougie extends SubsystemBase {
|
||||
CANdle candle = new CANdle(23);
|
||||
CANdle candle = new CANdle(5);
|
||||
CANdleConfiguration config = new CANdleConfiguration();
|
||||
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
|
||||
/** Creates a new Bougie. */
|
||||
@ -20,34 +20,18 @@ public class Bougie extends SubsystemBase {
|
||||
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);
|
||||
candle.setLEDs(255, 0, 0);
|
||||
}
|
||||
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);
|
||||
candle.setLEDs(0, 255, 0);
|
||||
}
|
||||
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);
|
||||
candle.setLEDs(0, 0, 255);
|
||||
}
|
||||
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);}
|
||||
public void RainBow(){candle.animate(rainbowAnim);}
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
}
|
||||
}
|
||||
|
||||
@ -4,46 +4,46 @@
|
||||
|
||||
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.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
import frc.robot.commands.BalayeuseAlgue;
|
||||
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;
|
||||
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
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);
|
||||
|
||||
private final CommandXboxController joystick = new CommandXboxController(0);
|
||||
|
||||
|
||||
|
||||
|
||||
public RobotContainer() {
|
||||
|
||||
configureBindings();
|
||||
requin.setDefaultCommand(new RunCommand(()->{
|
||||
requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
|
||||
}, requin));
|
||||
}
|
||||
|
||||
private void configureBindings() {
|
||||
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");
|
||||
return Commands.print("");
|
||||
}
|
||||
}
|
||||
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
@ -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
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user