PLS5618/betabot-2024
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Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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This commit is contained in:
Antoine PerreaultE
2023-12-05 19:17:49 -05:00
parent 56d9774135 05891f1a01
commit bf8ddfcf2a
7 changed files with 112 additions and 18 deletions
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43
src/main/java/frc/robot/subsystems/Drive.java
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@@ -7,17 +7,47 @@ package frc.robot.subsystems;
import java.io.File;
import java.io.IOException;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import swervelib.SwerveDrive;
import swervelib.encoders.CanAndCoderSwerve;
import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
.getLayout("Avancer", BuiltInLayouts.kList)
.withSize(1, 4)
.withPosition(4, 0);
ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
.getLayout("Reculer", BuiltInLayouts.kList)
.withSize(1, 4)
.withPosition(3,0);
SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
/* final CanAndCoderSwerve avantdroitdrive = new CanAndCoderSwerve(Constants.avantdroitDrive);
final CanAndCoderSwerve avantgauchedrive = new CanAndCoderSwerve(Constants.avantgaucheDrive);
final CanAndCoderSwerve arrieregauchedrive = new CanAndCoderSwerve(Constants.arrieregaucheDrive);
final CanAndCoderSwerve arrieredroitdrive = new CanAndCoderSwerve(Constants.arrieredroitDrive);
final CanAndCoderSwerve avantdroitangle = new CanAndCoderSwerve(Constants.avantdroitAngle);
final CanAndCoderSwerve avantgaucheangle = new CanAndCoderSwerve(Constants.avantgaucheAngle);
final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle);
final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
}
@@ -26,6 +56,14 @@ public class Drive extends SubsystemBase {
/** Creates a new Drive. */
public Drive() {
reculer.add("vitesse x", 1);
reculer.add("vitesse y", 2);
reculer.add("vitesse z", 3);
reculer.add("distance", 4);
avancer.add("vitesse x", 1);
avancer.add("vitesse y", 2);
avancer.add("vitesse z", 3);
avancer.add("distance", 4);
try {
this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
} catch (IOException e) {
@@ -36,6 +74,9 @@ public class Drive extends SubsystemBase {
public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions();
}
public void reset(){
}
@Override
public void periodic() {
// This method will be called once per scheduler run