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

.pathplanner/settings.json

@@ -0,0 +1,12 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}

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

@@ -0,0 +1,37 @@
+{
+  "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
+}

src/main/deploy/pathplanner/paths/L + Ratio.path

@@ -3,25 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
-        "y": 7.0
+        "x": 6.5,
+        "y": 0.9
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0,
-        "y": 7.0
+        "x": 6.586062320106703,
+        "y": 4.261103410099197
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.9001283880171185,
-        "y": 2.9171184022824534
+        "x": 6.632078555636399,
+        "y": 5.963704124721274
       },
       "prevControl": {
-        "x": 4.9001283880171185,
-        "y": 2.9171184022824534
+        "x": 6.5812654090653,
+        "y": 4.2614637146487615
+      },
+      "nextControl": {
+        "x": 6.650485049849024,
+        "y": 6.580321680822735
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.9323732190059952,
+        "y": 6.267411279220785
+      },
+      "prevControl": {
+        "x": 4.211624566746893,
+        "y": 6.377850244489728
       },
       "nextControl": null,
       "isLocked": false,
@@ -38,14 +54,14 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0,
-    "rotation": 0,
+    "velocity": 4.5,
+    "rotation": 180.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 0,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Slalum.path

@@ -0,0 +1,168 @@
+{
+  "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
+}

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

@@ -0,0 +1,126 @@
+{
+  "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
+}

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

@@ -5,12 +5,12 @@
   },
   "absoluteEncoderOffset": 5.537,
   "drive": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 11,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 12,
     "canbus": null
   },

src/main/java/frc/robot/Commands/LEDactive.java

@@ -0,0 +1,48 @@
+// 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.Accumulateur;
+import frc.robot.Subsystems.LED;
+
+public class LEDactive extends Command {
+  private Accumulateur accumulateur;
+  private LED led;
+  /** Creates a new LEDactive. */
+  public LEDactive(Accumulateur accumulateur, LED led) {
+    this.accumulateur = accumulateur;
+    this.led = led;
+    addRequirements(accumulateur,led);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // 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(accumulateur.photocell())
+    led.led(0, 255, 0);
+    else{
+      led.led(25, 25, 100);
+    }
+  }
+  
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    led.led(25, 25, 100);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/Subsystems/LED.java

@@ -0,0 +1,22 @@
+// 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.Subsystems;
+
+import com.ctre.phoenix.led.CANdle;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LED extends SubsystemBase {
+  /** Creates a new LED. */
+  public LED() {}
+  CANdle led = new CANdle(0);
+  public void led(int R, int G, int B){
+    led.setLEDs(R, G, B);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}