From 98c1c4e3f7cab7316e434b4d5505436e2c9f4c70 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 28 Nov 2023 19:02:47 -0500 Subject: [PATCH 1/8] h --- src/main/java/frc/robot/commands/Avancer.java | 2 +- src/main/java/frc/robot/commands/Reculer.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java index 00286c4..476601e 100644 --- a/src/main/java/frc/robot/commands/Avancer.java +++ b/src/main/java/frc/robot/commands/Avancer.java @@ -35,6 +35,6 @@ public class Avancer extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - return false; + return drive.distance()[0].distanceMeters>1; } } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java index 4c474b8..9d67460 100644 --- a/src/main/java/frc/robot/commands/Reculer.java +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -33,6 +33,6 @@ public class Reculer extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - return false; + return drive.distance()[0].distanceMeters>1; } } From 3dfb3a809978cb91523bcbef2158fcf11e666024 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Nov 2023 19:23:54 -0500 Subject: [PATCH 2/8] absolute encoder offset --- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/modules/frontright.json | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index 9eecec3..ad4624e 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -12.375, "left": 12.375 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 257.520, "drive": { "type": "sparkmax", "id": 8, diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 4d87807..07bdc60 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -12.375, "left": -12.375 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 211.201, "drive": { "type": "sparkmax", "id": 11, diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index d6d3fcc..39bf28d 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 12.375, "left": 12.375 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 101.953, "drive": { "type": "sparkmax", "id": 2, diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index b0dd13b..4bb86d4 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,7 +3,7 @@ "front": 12.375, "left": -12.375 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 16.875, "drive": { "type": "sparkmax", "id": 17, From f5d3a3acc0945e918d32da5f0c2bfdd4000db331 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Nov 2023 19:24:38 -0500 Subject: [PATCH 3/8] enlever inutile --- src/main/java/frc/robot/RobotContainer.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7b6231f..11eb794 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,7 +4,6 @@ package frc.robot; import edu.wpi.first.networktables.GenericEntry; -import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; @@ -14,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.commands.Avancer; import frc.robot.commands.Force1; import frc.robot.commands.Force2; From ccc61f3926b38607366e6e0b7ef457163ecc276a Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Nov 2023 19:44:01 -0500 Subject: [PATCH 4/8] absolute encoder offset --- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/modules/frontright.json | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index ad4624e..fbc7422 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -12.375, "left": 12.375 }, - "absoluteEncoderOffset": 257.520, + "absoluteEncoderOffset": 80.684, "drive": { "type": "sparkmax", "id": 8, diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 07bdc60..0b155a0 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -12.375, "left": -12.375 }, - "absoluteEncoderOffset": 211.201, + "absoluteEncoderOffset": 208.828 , "drive": { "type": "sparkmax", "id": 11, diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 39bf28d..943f3d0 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 12.375, "left": 12.375 }, - "absoluteEncoderOffset": 101.953, + "absoluteEncoderOffset": 98.438, "drive": { "type": "sparkmax", "id": 2, diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index 4bb86d4..98d0c29 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,7 +3,7 @@ "front": 12.375, "left": -12.375 }, - "absoluteEncoderOffset": 16.875, + "absoluteEncoderOffset": 196.963, "drive": { "type": "sparkmax", "id": 17, From f86573e44b4c5b96a00b99e02c0a9e6db1d7289d Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 30 Nov 2023 17:30:07 -0500 Subject: [PATCH 5/8] s --- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/modules/frontright.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 1 + src/main/java/frc/robot/subsystems/Drive.java | 2 +- 6 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index fbc7422..bf4c653 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 22, + "id": 7, "canbus": null }, "inverted": { diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 0b155a0..04240b4 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 22, + "id": 6, "canbus": null }, "inverted": { diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 943f3d0..2cc4e7a 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 22, + "id": 5, "canbus": null }, "inverted": { diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index 98d0c29..9694a22 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 22, + "id": 4, "canbus": null }, "inverted": { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 11eb794..d30e6db 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -43,6 +43,7 @@ public class RobotContainer { GenericEntry force5 = forces.add("Force5", 0).getEntry(); GenericEntry force6 = forces.add("Force6", 0).getEntry(); GenericEntry force7 = forces.add("Force7", 0).getEntry(); + CommandXboxController manette = new CommandXboxController(0); CommandJoystick joystick1 = new CommandJoystick(0); Drive drive = new Drive(); diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java index d2391d1..c0aa314 100644 --- a/src/main/java/frc/robot/subsystems/Drive.java +++ b/src/main/java/frc/robot/subsystems/Drive.java @@ -19,7 +19,7 @@ public class Drive extends SubsystemBase { File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve"); public void drive(double x, double y, double zRotation){ - swerveDrive.drive(new Translation2d(x, y), zRotation, true, false); + swerveDrive.drive(new Translation2d(x, y), zRotation, false, false); } From 8ca325381239519bcd0e0877cef64d2310312213 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 30 Nov 2023 18:40:12 -0500 Subject: [PATCH 6/8] hk --- simgui.json | 23 +++++++++++++++++++ src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 2 +- .../deploy/swerve/modules/frontright.json | 2 +- src/main/java/frc/robot/Constants.java | 11 ++++----- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 7 files changed, 33 insertions(+), 13 deletions(-) diff --git a/simgui.json b/simgui.json index be49c52..a612677 100644 --- a/simgui.json +++ b/simgui.json @@ -7,6 +7,29 @@ }, "windows": { "/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": { "visible": true } diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index bf4c653..68bde09 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -12.375, "left": 12.375 }, - "absoluteEncoderOffset": 80.684, + "absoluteEncoderOffset": 79.980, "drive": { "type": "sparkmax", "id": 8, diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 04240b4..2f18ee7 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -12.375, "left": -12.375 }, - "absoluteEncoderOffset": 208.828 , + "absoluteEncoderOffset": 28.652 , "drive": { "type": "sparkmax", "id": 11, diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 2cc4e7a..deb18f7 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 12.375, "left": 12.375 }, - "absoluteEncoderOffset": 98.438, + "absoluteEncoderOffset": 98.262, "drive": { "type": "sparkmax", "id": 2, diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index 9694a22..dc6a942 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,7 +3,7 @@ "front": 12.375, "left": -12.375 }, - "absoluteEncoderOffset": 196.963, + "absoluteEncoderOffset": 17.139, "drive": { "type": "sparkmax", "id": 17, diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 88ff911..293d7a5 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -3,18 +3,15 @@ package frc.robot; public class Constants { //Moteur - public static int lanceur = 0; + public static int lanceur = 10; public static int avantdroitDrive = 17; public static int avantdroitAngle = 18; - public static int avantgaucheDrive = 0; - public static int avantgaucheAngle = 1; + public static int avantgaucheDrive = 2; + public static int avantgaucheAngle = 3; public static int arrieredroitDrive = 11; public static int arrieredroitAngle = 12; public static int arrieregaucheDrive = 8; public static int arrieregaucheAngle = 9; - public static int accumulateur = 9; - - //limit switch - public static int ballon = 10; + public static int accumulateur = 19; } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d30e6db..edcb98d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -43,7 +43,7 @@ public class RobotContainer { GenericEntry force5 = forces.add("Force5", 0).getEntry(); GenericEntry force6 = forces.add("Force6", 0).getEntry(); GenericEntry force7 = forces.add("Force7", 0).getEntry(); - + CommandXboxController manette = new CommandXboxController(0); CommandJoystick joystick1 = new CommandJoystick(0); Drive drive = new Drive(); @@ -51,7 +51,7 @@ public class RobotContainer { configureBindings(); drive.setDefaultCommand(new RunCommand(()->{ - drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ()); + drive.drive(-joystick1.getY(), -joystick1.getX(), -joystick1.getZ()); },drive)); } From 6d5e3f26ae041c7375a7fcbc9de07fe2b7393056 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 30 Nov 2023 19:06:17 -0500 Subject: [PATCH 7/8] s --- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/modules/frontright.json | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index 68bde09..71952f7 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -12.375, "left": 12.375 }, - "absoluteEncoderOffset": 79.980, + "absoluteEncoderOffset": 80.332, "drive": { "type": "sparkmax", "id": 8, diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 2f18ee7..4ebf07e 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -12.375, "left": -12.375 }, - "absoluteEncoderOffset": 28.652 , + "absoluteEncoderOffset": 28.740 , "drive": { "type": "sparkmax", "id": 11, diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index deb18f7..2cc4e7a 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 12.375, "left": 12.375 }, - "absoluteEncoderOffset": 98.262, + "absoluteEncoderOffset": 98.438, "drive": { "type": "sparkmax", "id": 2, diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index dc6a942..96d3040 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,7 +3,7 @@ "front": 12.375, "left": -12.375 }, - "absoluteEncoderOffset": 17.139, + "absoluteEncoderOffset": 17.227, "drive": { "type": "sparkmax", "id": 17, From c26a26c577f7471d445d0732805899008c0fe27b Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 30 Nov 2023 20:33:43 -0500 Subject: [PATCH 8/8] changement --- src/main/deploy/swerve/controllerproperties.json | 2 +- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 4 ++-- src/main/deploy/swerve/modules/frontright.json | 4 ++-- src/main/deploy/swerve/modules/pidfproperties.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 3 ++- 7 files changed, 10 insertions(+), 9 deletions(-) diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json index 669097e..1c115ca 100644 --- a/src/main/deploy/swerve/controllerproperties.json +++ b/src/main/deploy/swerve/controllerproperties.json @@ -1,5 +1,5 @@ { - "angleJoystickRadiusDeadband": 0.5, + "angleJoystickRadiusDeadband": 0.6, "heading": { "p": 0.4, "i": 0, diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index 71952f7..40325ab 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -21,6 +21,6 @@ }, "inverted": { "drive": false, - "angle": false + "angle": true } } \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 4ebf07e..d1526d4 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -21,6 +21,6 @@ }, "inverted": { "drive": false, - "angle": false + "angle": true } } \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 2cc4e7a..8c8ecd3 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -16,11 +16,11 @@ }, "encoder": { "type": "cancoder", - "id": 5, + "id": 4, "canbus": null }, "inverted": { "drive": false, - "angle": false + "angle": true } } \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index 96d3040..7a257d2 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -16,11 +16,11 @@ }, "encoder": { "type": "cancoder", - "id": 4, + "id": 5, "canbus": null }, "inverted": { "drive": false, - "angle": false + "angle": true } } \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/pidfproperties.json b/src/main/deploy/swerve/modules/pidfproperties.json index 3834a36..f2faf26 100644 --- a/src/main/deploy/swerve/modules/pidfproperties.json +++ b/src/main/deploy/swerve/modules/pidfproperties.json @@ -7,7 +7,7 @@ "iz": 0 }, "angle": { - "p": 0.0020645, + "p": 0.005, "i": 0, "d": 0, "f": 0, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index edcb98d..10d4801 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -3,6 +3,7 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; @@ -51,7 +52,7 @@ public class RobotContainer { configureBindings(); drive.setDefaultCommand(new RunCommand(()->{ - drive.drive(-joystick1.getY(), -joystick1.getX(), -joystick1.getZ()); + drive.drive(-joystick1.getY(), -joystick1.getX(), MathUtil.applyDeadband(-joystick1.getZ(), 0.2)); },drive)); }