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

src/main/deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

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

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset":209.443,
+  "drive": {
+    "type": "sparkmax",
+    "id": 8,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 9,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 6,
+    "canbus": null
+  }
+}

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

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 5.537,
+  "drive": {
+    "type": "sparkmax",
+    "id": 11,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 12,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 7,
+    "canbus": null
+  }
+}

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

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset":258.223 ,
+  "drive": {
+    "type": "sparkmax",
+    "id": 2,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 3,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 4,
+    "canbus": null
+  }
+}

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

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 110.215,
+  "drive": {
+    "type": "sparkmax",
+    "id": 18,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 17,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 5,
+    "canbus": null
+  }
+}

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

@@ -0,0 +1,16 @@
+{
+  "optimalVoltage": 12,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactor": {
+    "angle": 16.8,
+    "drive": 0.04
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  }
+}

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

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.01,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}

src/main/deploy/swerve/swervedrive.json

@@ -0,0 +1,14 @@
+{
+  "imu": {
+    "type": "pigeon",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}

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

@@ -0,0 +1,28 @@
+// 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 edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+public class Accumulateur extends SubsystemBase {
+  
+  /** Creates a new Accumulateur. */
+  public Accumulateur() {}
+  final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
+  final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
+  Encoder encoder = new Encoder(1,0);
+  public void encodeur(){
+    
+  }
+  public void desaccumule(double vitesse){
+    accumulateur1.set(vitesse);
+    accumulateur2.set(-vitesse);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,18 @@
+// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Drive extends SubsystemBase {
+
+  /** Creates a new Drive. */
+  public Drive() {}
+  
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -7,10 +7,11 @@ package frc.robot.Subsystems;
 
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.Encoder;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
@@ -20,6 +21,10 @@ public class Lanceur extends SubsystemBase {
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
   final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
+  Encoder encoder = new Encoder(0, 1);
+  public void encodeur(double distance){
+    encoder.setDistancePerPulse(distance);
+  }
   public void lance(double vitesse){
     lanceur1.set(vitesse);
     lanceur2.set(-vitesse);