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base: PLS5618:0735fdb41ad97db3c6d95c59783a8eccdb746e76
Branches Tags
PLS5618:main
PLS5618:Lanceur
..
compare: PLS5618:899f8f3bf6c08b8d56aada199a45ceb9de39082b
Branches Tags
PLS5618:main
PLS5618:Lanceur

No commits in common. "0735fdb41ad97db3c6d95c59783a8eccdb746e76" and "899f8f3bf6c08b8d56aada199a45ceb9de39082b" have entirely different histories.
0735fdb41a ... 899f8f3bf6

5 changed files with 74 additions and 175 deletions
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25
src/main/deploy/pathplanner/autos/mode 1.auto
View File

@ -1,25 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 5.76,
"y": 3.93
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "1"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

137
src/main/deploy/pathplanner/paths/1.path
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@ -1,137 +0,0 @@
{
"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
}

68
src/main/deploy/pathplanner/paths/New Path.path Normal file
View File

@ -0,0 +1,68 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 5.764349477682812,
"y": 3.9299145299145297
},
"prevControl": null,
"nextControl": {
"x": 6.764349477682812,
"y": 3.9299145299145297
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.039563152896486,
"y": 4.872174738841406
},
"prevControl": {
"x": 7.039563152896486,
"y": 4.872174738841406
},
"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,
"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
}

10
src/main/java/frc/robot/Commands/FollowAprilTag.java
View File

@ -27,13 +27,13 @@ public class FollowAprilTag extends Command {
@Override
public void execute() {
if (enlignement.getv()==1)
{
lanceur.tourelRotation(0,0, enlignement.getx()/30);
}
if (lanceur.limitswitch1() || lanceur.limitswitch2()){
lanceur.lance(0);}
else if (enlignement.getv()==1)
{
lanceur.tourelRotation(0,0, enlignement.getx()/30);
}
else
{
lanceur.tourelRotation(0, 0, 0);

9
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,13 +4,9 @@
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;
@ -24,7 +20,6 @@ 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();
@ -32,8 +27,6 @@ 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(4,3)
.withPosition(0,0);
@ -54,6 +47,6 @@ public class RobotContainer {
}
public Command getAutonomousCommand() {
return autoChooser.getSelected();
return Commands.print("No autonomous command configured");
}
}