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

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
         }

src/main/deploy/swerve/controllerproperties.json

@@ -1,5 +1,5 @@
 {
-  "angleJoystickRadiusDeadband": 0.5,
+  "angleJoystickRadiusDeadband": 0.6,
   "heading": {
     "p": 0.4,
     "i": 0,

src/main/deploy/swerve/modules/backleft.json

@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 80.332, 
   "drive": {
     "type": "sparkmax",
     "id": 8,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 7,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }

src/main/deploy/swerve/modules/backright.json

@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 28.740 ,
   "drive": {
     "type": "sparkmax",
     "id": 11,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 6,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }

src/main/deploy/swerve/modules/frontleft.json

@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 98.438,
   "drive": {
     "type": "sparkmax",
     "id": 2,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 4,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }

src/main/deploy/swerve/modules/frontright.json

@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 17.227,
   "drive": {
     "type": "sparkmax",
     "id": 17,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 5,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }

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,

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 avantgaucheDrive = 2;
-        public static int avantgaucheAngle = 1;
+        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;
+        public static int accumulateur = 19;
-        
-        //limit switch
-            public static int ballon = 10;
 
 }           

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

@@ -3,8 +3,8 @@
 // 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.Joystick;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
@@ -14,7 +14,6 @@ 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;
@@ -45,6 +44,7 @@ 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();
@@ -52,7 +52,7 @@ public class RobotContainer {
     
     configureBindings();
     drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ());
+     drive.drive(-joystick1.getY(), -joystick1.getX(), MathUtil.applyDeadband(-joystick1.getZ(), 0.2));
     },drive));
   }
   

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;
   }
 }

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;
   }
 }

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);
   }