Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

src/main/java/frc/robot/RobotContainer.java

@@ -5,6 +5,7 @@
 package frc.robot;
 import java.util.Map;
 
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.networktables.GenericEntry;
@@ -36,13 +37,16 @@ import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
-
+import frc.robot.subsystems.limelight;
+import frc.robot.commands.AprilTag;
 public class RobotContainer {
   
 String avancergaucheString = "droite";
 String avancerautoString = "gauche";
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("Dashboard").getLayout("auto", BuiltInLayouts.kList);
   SendableChooser<String> chooser = new SendableChooser<>();
+
+  limelight limelight = new limelight();
   Lanceur lanceur = new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
   Drive drive = new Drive();
@@ -78,6 +82,7 @@ String avancerautoString = "gauche";
     chooser.addOption(avancergaucheString, avancergaucheString);
     layoutauto.add("choix hauteur", chooser);
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
+  AprilTag aprilTag = new AprilTag(limelight, lanceur);
   Force1 Force1 = new Force1(lanceur, force1);
   Force2 Force2 = new Force2(lanceur, force2);
   Force3 Force3 = new Force3(lanceur, force3);
@@ -87,7 +92,7 @@ String avancerautoString = "gauche";
   Force7 Force7 = new Force7(lanceur, force7);
 
   //touche
-
+    joystick1.button(2).whileTrue(aprilTag);
     joystick1.button(3).whileTrue(accumulateurtest);
     joystick1.button(1).whileTrue(Force1);
     joystick1.button(7).whileTrue(Force2);

src/main/java/frc/robot/commands/AprilTag.java

@@ -0,0 +1,53 @@
+// 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.CommandBase;
+import frc.robot.subsystems.Drive;
+import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.limelight;
+
+public class AprilTag extends CommandBase {
+  private Lanceur lanceur;
+  private limelight limelight;
+
+  /** Creates a new Limelight. */
+  public AprilTag(limelight limelight,Lanceur lanceur) {
+    this.lanceur = lanceur;
+    this.limelight = limelight;
+    addRequirements(limelight,lanceur);
+    // 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() {
+    //drive.drive(0, limelight.getYaw(), 0);
+    if(limelight.tv.getDouble(0) == 1){
+      lanceur.lancer(0.5);
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+   lanceur.lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Drive.java

@@ -7,6 +7,8 @@ package frc.robot.subsystems;
 import java.io.File;
 import java.io.IOException;
 
+import com.kauailabs.navx.frc.AHRS;
+
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.wpilibj.Filesystem;
@@ -38,11 +40,18 @@ public class Drive extends SubsystemBase {
   final CanAndCoderSwerve avantgaucheangle = new CanAndCoderSwerve(Constants.avantgaucheAngle); 
   final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle); 
   final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
+<<<<<<< HEAD
     public void drive(double x, double y, double zRotation){
       swerveDrive.drive(new Translation2d(x*5, y*5), zRotation, true, false);
     }
     
   
+=======
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);}
+
+
+>>>>>>> 05182be6b406e77cf3fc555805b04dba72ec611b
 
   /** Creates a new Drive. */
   public Drive() {

src/main/java/frc/robot/subsystems/limelight.java

@@ -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.subsystems;
+
+
+
+import org.photonvision.common.hardware.VisionLEDMode;
+
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class limelight extends SubsystemBase {
+  public NetworkTableEntry tv = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv");
+  limelight limelight = new limelight();
+/** Creates a new limelight. */
+  public limelight() {}
+  
+  /*public void lumiere(){
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(0);
+  }*/
+  /*public double getYaw() {
+    var result = limelight.getLatestResult();
+    if(result.hasTargets()){
+    return   -result.getBestTarget().getYaw()/45;
+    }
+    return 0;}*/
+
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

vendordeps/photonlib.json

@@ -0,0 +1,57 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2024.1.4",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2024.1.4",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2024.1.4",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2024.1.4"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2024.1.4"
+        }
+    ]
+}