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:
Olivier Dubois 2023-12-02 09:24:38 -05:00
commit c6ccc37f2d
12 changed files with 47 additions and 27 deletions
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23
simgui.json
View File

@ -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
}

2
src/main/deploy/swerve/controllerproperties.json
View File

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

6
src/main/deploy/swerve/modules/backleft.json
View File

@ -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
}
}

6
src/main/deploy/swerve/modules/backright.json
View File

@ -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
}
}

6
src/main/deploy/swerve/modules/frontleft.json
View File

@ -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
}
}

6
src/main/deploy/swerve/modules/frontright.json
View File

@ -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
}
}

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

@ -7,7 +7,7 @@
"iz": 0
},
"angle": {
"p": 0.0020645,
"p": 0.005,
"i": 0,
"d": 0,
"f": 0,

11
src/main/java/frc/robot/Constants.java
View File

@ -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;
}

6
src/main/java/frc/robot/RobotContainer.java
View File

@ -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));
}

2
src/main/java/frc/robot/commands/Avancer.java
View File

@ -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;
}
}

2
src/main/java/frc/robot/commands/Reculer.java
View File

@ -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;
}
}

2
src/main/java/frc/robot/subsystems/Drive.java
View File

@ -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);
}