Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025
This commit is contained in:
commit
2b35ef9267
52
src/main/deploy/pathplanner/paths/Example Path.path
Normal file
52
src/main/deploy/pathplanner/paths/Example Path.path
Normal file
@ -0,0 +1,52 @@
|
||||
{
|
||||
"version": 1.0,
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 2.0,
|
||||
"y": 7.0
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 3.0,
|
||||
"y": 7.0
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.9001283880171185,
|
||||
"y": 2.9171184022824534
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 4.9001283880171185,
|
||||
"y": 2.9171184022824534
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 0,
|
||||
"rotateFast": false
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"previewStartingState": {
|
||||
"rotation": 0,
|
||||
"velocity": 0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
47
src/main/java/frc/robot/Commands/Tracker_Couleur_Forme.java
Normal file
47
src/main/java/frc/robot/Commands/Tracker_Couleur_Forme.java
Normal file
@ -0,0 +1,47 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot.Commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.Subsystems.Limelight3G;
|
||||
|
||||
|
||||
public class Tracker_Couleur_Forme extends Command {
|
||||
/** Creates a new Tracker_Couleur_Forme. */
|
||||
private Limelight3G pipeline;
|
||||
public Tracker_Couleur_Forme(Limelight3G tracker_couleur, Limelight3G tracker_forme) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.pipeline = pipeline;
|
||||
this.tracker_couleur = tracker_couleur;
|
||||
this.tracker_forme = tracker_forme;
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
if (pipeline == 1) {
|
||||
Limelight3G.tracker_couleur;
|
||||
}
|
||||
else if (pipeline == 2){
|
||||
Limelight3G.tracker_forme;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
File diff suppressed because it is too large
Load Diff
@ -4,10 +4,16 @@
|
||||
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
import frc.robot.Commands.Desaccumuler;
|
||||
import frc.robot.Commands.FollowAprilTag;
|
||||
import frc.robot.Commands.Lancer;
|
||||
import frc.robot.Subsystems.Accumulateur;
|
||||
import frc.robot.Subsystems.Drive;
|
||||
import frc.robot.Subsystems.Lanceur;
|
||||
@ -19,6 +25,7 @@ public class RobotContainer {
|
||||
Limelight3G limelight3G = new Limelight3G();
|
||||
Drive drive = new Drive();
|
||||
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
|
||||
CommandXboxController manette = new CommandXboxController(0);
|
||||
public RobotContainer() {
|
||||
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
|
||||
.withSize(3,4)
|
||||
@ -27,9 +34,17 @@ public class RobotContainer {
|
||||
.withSize(3,4)
|
||||
.withPosition(3,0);
|
||||
configureBindings();
|
||||
drive.setDefaultCommand(new RunCommand(()->{
|
||||
drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
|
||||
},drive));
|
||||
}
|
||||
|
||||
private void configureBindings() {}
|
||||
private void configureBindings() {
|
||||
|
||||
manette.x().whileTrue(new Lancer(lanceur));
|
||||
manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
|
||||
manette.a().whileTrue(new Desaccumuler(accumulateur));
|
||||
}
|
||||
|
||||
public Command getAutonomousCommand() {
|
||||
return Commands.print("No autonomous command configured");
|
||||
|
@ -6,7 +6,6 @@ package frc.robot.Subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import edu.wpi.first.net.PortForwarder;
|
||||
import edu.wpi.first.networktables.GenericEntry;
|
||||
import edu.wpi.first.networktables.NetworkTable;
|
||||
import edu.wpi.first.networktables.NetworkTableEntry;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
|
Loading…
x
Reference in New Issue
Block a user