PLS5618/pratique-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

Browse Source
This commit is contained in:
Olivier Dubois 2024-11-13 18:56:33 -05:00
commit 1facdb07e5
7 changed files with 19 additions and 351 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
src/main/deploy/pathplanner/autos/Comment tuer quelqu'un sans se faire prendre!!!.auto
View File

@ -1,37 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 6.5,
"y": 0.9
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Slalum"
}
},
{
"type": "path",
"data": {
"pathName": "L + Ratio"
}
},
{
"type": "path",
"data": {
"pathName": "Tour de la tour (Jeu de mot non voulu)"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

2
src/main/deploy/pathplanner/navgrid.json
View File

File diff suppressed because one or more lines are too long

0
src/main/deploy/pathplanner/paths/Expérimentation avec les restrictions.path
View File

34
src/main/deploy/pathplanner/paths/L + Ratio.path → src/main/deploy/pathplanner/paths/New Path.path
View File

@ -3,41 +3,41 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 6.5, "x": 5.764349477682812,
"y": 0.9 "y": 3.9299145299145297
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 6.586062320106703, "x": 6.764349477682812,
"y": 4.261103410099197 "y": 3.9299145299145297
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 6.632078555636399, "x": 8.039563152896486,
"y": 5.963704124721274 "y": 4.872174738841406
}, },
"prevControl": { "prevControl": {
"x": 6.5812654090653, "x": 7.039563152896486,
"y": 4.2614637146487615 "y": 4.872174738841406
}, },
"nextControl": { "nextControl": {
"x": 6.650485049849024, "x": 9.039563152896486,
"y": 6.580321680822735 "y": 4.872174738841406
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 2.9323732190059952, "x": 8.36131054131054,
"y": 6.267411279220785 "y": 6.009781576448243
}, },
"prevControl": { "prevControl": {
"x": 4.211624566746893, "x": 9.056657169990501,
"y": 6.377850244489728 "y": 6.61880341880342
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -54,14 +54,14 @@
"maxAngularAcceleration": 720.0 "maxAngularAcceleration": 720.0
}, },
"goalEndState": { "goalEndState": {
"velocity": 4.5, "velocity": 0,
"rotation": 180.0, "rotation": 0,
"rotateFast": false "rotateFast": false
}, },
"reversed": false, "reversed": false,
"folder": null, "folder": null,
"previewStartingState": { "previewStartingState": {
"rotation": 180.0, "rotation": 0,
"velocity": 0 "velocity": 0
}, },
"useDefaultConstraints": true "useDefaultConstraints": true

168
src/main/deploy/pathplanner/paths/Slalum.path
View File

@ -1,168 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 6.5,
"y": 0.9
},
"prevControl": null,
"nextControl": {
"x": 7.515590277817328,
"y": 1.3344708303766382
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 9.337833204814393,
"y": 2.3468280120416742
},
"prevControl": {
"x": 9.595524123783674,
"y": 1.831446174103111
},
"nextControl": {
"x": 9.012033057727226,
"y": 2.998428306216007
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.239492864635955,
"y": 4.16907093903874
},
"prevControl": {
"x": 7.285509100166183,
"y": 3.635282606888085
},
"nextControl": {
"x": 7.1872490187780045,
"y": 4.775099550990983
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.343882517361449,
"y": 6.506695703974367
},
"prevControl": {
"x": 7.387516553412176,
"y": 6.558192332802404
},
"nextControl": {
"x": 9.5403046411474,
"y": 6.442272974232048
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 9.503491652723216,
"y": 5.9268911362934835
},
"prevControl": {
"x": 9.637145969826634,
"y": 6.280120402923943
},
"nextControl": {
"x": 9.374646193238576,
"y": 5.58637099336979
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.14141108102844,
"y": 4.831704730674035
},
"prevControl": {
"x": 9.257085826573364,
"y": 5.268273109365526
},
"nextControl": {
"x": 6.448013613516017,
"y": 4.16907093903874
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.5,
"y": 0.9
},
"prevControl": {
"x": 6.484826601940201,
"y": 2.4020474946779493
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.45,
"rotationDegrees": 63.44712332687376,
"rotateFast": false
},
{
"waypointRelativePos": 2,
"rotationDegrees": 4.763641690726149,
"rotateFast": false
},
{
"waypointRelativePos": 0.5499999999999999,
"rotationDegrees": 20.153417368512876,
"rotateFast": false
},
{
"waypointRelativePos": 5,
"rotationDegrees": -61.03233935393599,
"rotateFast": false
},
{
"waypointRelativePos": 5.1,
"rotationDegrees": -49.47054707781578,
"rotateFast": false
},
{
"waypointRelativePos": 2.65,
"rotationDegrees": -20.732131564200795,
"rotateFast": false
},
{
"waypointRelativePos": 3.0,
"rotationDegrees": -85.54439716667379,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0.0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0.0
},
"useDefaultConstraints": true
}

126
src/main/deploy/pathplanner/paths/Tour de la tour (Jeu de mot non voulu).path
View File

@ -1,126 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.93,
"y": 6.27
},
"prevControl": null,
"nextControl": {
"x": 1.5702926473117529,
"y": 6.000517113141849
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.0856744852503164,
"y": 4.095444962190373
},
"prevControl": {
"x": 1.5702926473117529,
"y": 6.028126854459987
},
"nextControl": {
"x": 2.327736371101423,
"y": 3.187712890248723
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.96339545145325,
"y": 2.089137093076611
},
"prevControl": {
"x": 5.7311425984202575,
"y": 1.116305893313723
},
"nextControl": {
"x": 7.487980536497859,
"y": 2.50328321284867
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.282355165607193,
"y": 6.138565819732537
},
"prevControl": {
"x": 6.7057045324852975,
"y": 5.908484642081393
},
"nextControl": {
"x": 5.508568923092858,
"y": 6.5591018210990235
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.93,
"y": 6.27
},
"prevControl": {
"x": 4.469315485716174,
"y": 6.699963893201328
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.95,
"rotationDegrees": -77.06357086531585,
"rotateFast": false
},
{
"waypointRelativePos": 1.25,
"rotationDegrees": -12.0,
"rotateFast": false
},
{
"waypointRelativePos": 1.65,
"rotationDegrees": -12.0,
"rotateFast": false
},
{
"waypointRelativePos": 2.8,
"rotationDegrees": 121.86757878185286,
"rotateFast": false
},
{
"waypointRelativePos": 3.9,
"rotationDegrees": -168.7809809013034,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
}

1
src/main/java/frc/robot/Subsystems/Lanceur.java
View File

@ -27,6 +27,7 @@ public class Lanceur extends SubsystemBase {
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed); final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
final
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2) dashboard.add("vitesselanceur", 0.2)
.withSize(0,0) .withSize(0,0)