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This commit is contained in:
Antoine PerreaultE 2023-11-30 18:40:12 -05:00
parent f86573e44b
commit 8ca3253812
7 changed files with 33 additions and 13 deletions
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23
simgui.json
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@ -7,6 +7,29 @@
}, },
"windows": { "windows": {
"/SmartDashboard/Field": { "/SmartDashboard/Field": {
"Robot": {
"arrowColor": [
1.0,
1.0,
1.0,
255.0
],
"color": [
1.0,
1.0,
1.0,
255.0
],
"style": "Box/Image"
},
"XModules": {
"arrowColor": [
0.0,
1.0,
0.0,
255.0
]
},
"window": { "window": {
"visible": true "visible": true
} }

2
src/main/deploy/swerve/modules/backleft.json
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@ -3,7 +3,7 @@
"front": -12.375, "front": -12.375,
"left": 12.375 "left": 12.375
}, },
"absoluteEncoderOffset": 80.684, "absoluteEncoderOffset": 79.980,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 8, "id": 8,

2
src/main/deploy/swerve/modules/backright.json
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@ -3,7 +3,7 @@
"front": -12.375, "front": -12.375,
"left": -12.375 "left": -12.375
}, },
"absoluteEncoderOffset": 208.828 , "absoluteEncoderOffset": 28.652 ,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 11, "id": 11,

2
src/main/deploy/swerve/modules/frontleft.json
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@ -3,7 +3,7 @@
"front": 12.375, "front": 12.375,
"left": 12.375 "left": 12.375
}, },
"absoluteEncoderOffset": 98.438, "absoluteEncoderOffset": 98.262,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 2, "id": 2,

2
src/main/deploy/swerve/modules/frontright.json
View File

@ -3,7 +3,7 @@
"front": 12.375, "front": 12.375,
"left": -12.375 "left": -12.375
}, },
"absoluteEncoderOffset": 196.963, "absoluteEncoderOffset": 17.139,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 17, "id": 17,

11
src/main/java/frc/robot/Constants.java
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@ -3,18 +3,15 @@ package frc.robot;
public class Constants { public class Constants {
//Moteur //Moteur
public static int lanceur = 0; public static int lanceur = 10;
public static int avantdroitDrive = 17; public static int avantdroitDrive = 17;
public static int avantdroitAngle = 18; public static int avantdroitAngle = 18;
public static int avantgaucheDrive = 0; public static int avantgaucheDrive = 2;
public static int avantgaucheAngle = 1; public static int avantgaucheAngle = 3;
public static int arrieredroitDrive = 11; public static int arrieredroitDrive = 11;
public static int arrieredroitAngle = 12; public static int arrieredroitAngle = 12;
public static int arrieregaucheDrive = 8; public static int arrieregaucheDrive = 8;
public static int arrieregaucheAngle = 9; public static int arrieregaucheAngle = 9;
public static int accumulateur = 9; public static int accumulateur = 19;
//limit switch
public static int ballon = 10;
} }

4
src/main/java/frc/robot/RobotContainer.java
View File

@ -43,7 +43,7 @@ public class RobotContainer {
GenericEntry force5 = forces.add("Force5", 0).getEntry(); GenericEntry force5 = forces.add("Force5", 0).getEntry();
GenericEntry force6 = forces.add("Force6", 0).getEntry(); GenericEntry force6 = forces.add("Force6", 0).getEntry();
GenericEntry force7 = forces.add("Force7", 0).getEntry(); GenericEntry force7 = forces.add("Force7", 0).getEntry();
CommandXboxController manette = new CommandXboxController(0); CommandXboxController manette = new CommandXboxController(0);
CommandJoystick joystick1 = new CommandJoystick(0); CommandJoystick joystick1 = new CommandJoystick(0);
Drive drive = new Drive(); Drive drive = new Drive();
@ -51,7 +51,7 @@ public class RobotContainer {
configureBindings(); configureBindings();
drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{
drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ()); drive.drive(-joystick1.getY(), -joystick1.getX(), -joystick1.getZ());
},drive)); },drive));
} }