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

src/main/deploy/pathplanner/autos/mode 1.auto

@@ -0,0 +1,75 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 5.76,
+      "y": 3.93
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/1.path

@@ -0,0 +1,137 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.76,
+        "y": 3.93
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.801431310952625,
+        "y": 3.93
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.3,
+        "y": 3.2979107312440648
+      },
+      "prevControl": {
+        "x": 6.660542519857817,
+        "y": 3.2979107312440648
+      },
+      "nextControl": {
+        "x": 7.948552157357058,
+        "y": 3.2979107312440648
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.005090218423552,
+        "y": 4.1022792022792025
+      },
+      "prevControl": {
+        "x": 7.89972103271822,
+        "y": 3.7203159040973657
+      },
+      "nextControl": {
+        "x": 8.09701804368471,
+        "y": 4.435517568850902
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.774985754985755,
+        "y": 4.9411206077872745
+      },
+      "prevControl": {
+        "x": 8.087653449552494,
+        "y": 5.261875683656129
+      },
+      "nextControl": {
+        "x": 9.292079772079772,
+        "y": 4.699810066476734
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.41,
+        "y": 3.07
+      },
+      "prevControl": {
+        "x": 9.74022792022792,
+        "y": 2.8152896486229815
+      },
+      "nextControl": {
+        "x": 10.747612735931797,
+        "y": 3.19839212203024
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.4,
+        "y": 5.2
+      },
+      "prevControl": {
+        "x": 10.388509021842355,
+        "y": 5.2
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 76.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 4,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.55,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/2.path

@@ -3,41 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.764349477682812,
+        "x": 10.4,
-        "y": 3.9299145299145297
+        "y": 5.2
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.764349477682812,
+        "x": 9.705754985754986,
-        "y": 3.9299145299145297
+        "y": 4.745773979107312
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 8.039563152896486,
+        "x": 9.3,
-        "y": 4.872174738841406
+        "y": 4.0
       },
       "prevControl": {
-        "x": 7.039563152896486,
+        "x": 9.936805143100598,
-        "y": 4.872174738841406
+        "y": 4.758914817072607
-      },
-      "nextControl": {
-        "x": 9.039563152896486,
-        "y": 4.872174738841406
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.36131054131054,
-        "y": 6.009781576448243
-      },
-      "prevControl": {
-        "x": 9.056657169990501,
-        "y": 6.61880341880342
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 90.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 0,
+    "rotation": 90.60460638654384,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/3.path

@@ -0,0 +1,95 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 9.3,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 9.062260208926876,
+        "y": 3.550712250712251
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.545166191832859,
+        "y": 3.2749287749287745
+      },
+      "prevControl": {
+        "x": 9.07375118708452,
+        "y": 3.2749287749287745
+      },
+      "nextControl": {
+        "x": 8.004601461786502,
+        "y": 3.2749287749287745
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.441748878923768,
+        "y": 4.964798206278027
+      },
+      "prevControl": {
+        "x": 7.957769732906826,
+        "y": 4.951218710120577
+      },
+      "nextControl": {
+        "x": 7.005091708933264,
+        "y": 4.976289184435672
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.76,
+        "y": 3.93
+      },
+      "prevControl": {
+        "x": 6.374633781763827,
+        "y": 4.277503736920778
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 30.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.8151092400891717,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 89.62831416675282,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -27,16 +27,12 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
-    if (lanceur.limitswitch1()){
     
-    }
+     if (enlignement.getv()==1)  
-    else if(lanceur.limitswitch2()){
-      
-    }
-    else if (enlignement.getv()==1) 
       {
         lanceur.tourelRotation(0,0, enlignement.getx()/30);
       }
+    
     else
     {
       lanceur.tourelRotation(0, 0, 0);

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

@@ -4,9 +4,13 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -20,6 +24,7 @@ import frc.robot.Subsystems.Lanceur;
 import frc.robot.Subsystems.Limelight3G;
 
 public class RobotContainer {
+  private final SendableChooser<Command> autoChooser;
   Lanceur lanceur= new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
   Limelight3G limelight3G = new Limelight3G();
@@ -27,6 +32,8 @@ public class RobotContainer {
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
+     NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
+    autoChooser = AutoBuilder.buildAutoChooser();
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,3)
     .withPosition(5,0);
@@ -37,6 +44,9 @@ public class RobotContainer {
     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));
+    dashboard.add("autochooser",autoChooser)
+      .withSize(1,1)
+      .withPosition(6,0);
   }
   
   private void configureBindings() {
@@ -47,6 +57,6 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return autoChooser.getSelected();
   }
 }