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
+}

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,10 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

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

@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.5,
+        "y": 0.9
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.586062320106703,
+        "y": 4.261103410099197
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.632078555636399,
+        "y": 5.963704124721274
+      },
+      "prevControl": {
+        "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,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 4.5,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "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/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": "talonFX",
+    "id": 8,
+    "canbus": null
+  },
+  "angle": {
+    "type": "talonFX",
+    "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": "talonFX",
+    "id": 11,
+    "canbus": null
+  },
+  "angle": {
+    "type": "talonFX",
+    "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": "talonFX",
+    "id": 2,
+    "canbus": null
+  },
+  "angle": {
+    "type": "talonFX",
+    "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": "talonFX",
+    "id": 18,
+    "canbus": null
+  },
+  "angle": {
+    "type": "talonFX",
+    "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/Commands/Desaccumuler.java

@@ -0,0 +1,38 @@
+// 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;
+
+public class Desaccumuler extends Command {
+  private Accumulateur accumulateur;
+  /** Creates a new Desaccumuler. */
+  public Desaccumuler(Accumulateur accumulateur){
+    this.accumulateur = accumulateur;
+    addRequirements(accumulateur);
+    // 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()){accumulateur.desaccumule(0.1);}
+    
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+   accumulateur.desaccumule(0);
+  }
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,51 @@
+// 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.Lanceur;
+import frc.robot.Subsystems.Limelight3G;
+
+public class FollowAprilTag extends Command {
+
+  private Limelight3G enlignement;
+  private Lanceur lanceur;
+  /** Creates a new Limelight3g. */
+  public FollowAprilTag(Limelight3G enlignement, Lanceur lanceur) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.lanceur = lanceur;
+    this.enlignement = enlignement;
+    addRequirements(lanceur, enlignement);
+  }
+
+  // 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 (enlignement.getv()==1)  
+    {
+      lanceur.tourelRotation(0,0, enlignement.getx()/30);
+    }
+    else
+    {
+      lanceur.tourelRotation(0, 0, 0);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.tourelRotation(0, 0, 0);
+  }
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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/Commands/Lancer.java

@@ -3,7 +3,6 @@
 // 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.Lanceur;
 
@@ -15,25 +14,21 @@ public class Lancer extends Command {
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
-
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.PIDlanceur(0, 0, 0);
   }
-
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     lanceur.lance(0.5);
   }
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     lanceur.lance(0);
   }
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

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

@@ -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;
+  }
+}

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

@@ -4,15 +4,47 @@
 
 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;
+import frc.robot.Subsystems.Limelight3G;
 
 public class RobotContainer {
+  Lanceur lanceur= new Lanceur();
+  Accumulateur accumulateur = new Accumulateur();
+  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)
+    .withPosition(0,0);
+    dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
+    .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");

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

@@ -0,0 +1,46 @@
+// 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.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+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() {dashboard.addBoolean("photocellacc", this::photocell).withSize(1, 1).withPosition(0, 1);
+     dashboard.addBoolean("photocellacc2", this::photocell).withSize(1, 1).withPosition(0, 1);
+    }
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  
+  private GenericEntry vitesse =
+      dashboard.add("vitesseacc", 0.1)
+      .withSize(1, 1)
+      .withPosition(0, 4)
+      .getEntry(); 
+      
+  final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
+  final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
+  final DigitalInput photocell = new DigitalInput(94);
+  final DigitalInput photocell2 = new DigitalInput(93);
+  public void encodeur(){
+  }
+  public boolean photocell(){
+    return photocell.get();
+  }
+  public void desaccumule(double vitesse){
+    accumulateur1.set(vitesse);
+    accumulateur2.set(-vitesse);
+  }
+  public void desaccumule(){
+    desaccumule(vitesse.getDouble(0.9));
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/Subsystems/Drive.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.Subsystems;
+import java.io.File;
+import java.io.IOException;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import swervelib.SwerveDrive;
+import swervelib.parser.SwerveParser;
+
+public class Drive extends SubsystemBase {
+
+    SwerveDrive swerveDrive;
+
+  File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
+  
+  Pigeon2 Gyro = new Pigeon2(0);
+   
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x*5, y*5), zRotation*4, true, false);
+  }
+  
+  public Drive() {
+     try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(5);
+      swerveDrive.setHeadingCorrection(true);
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
+  public void restgyroscope(){
+    Gyro.reset();
+  }
+  public SwerveModulePosition[] distance(){
+    return swerveDrive.getModulePositions();
+  }
+
+  
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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
+  }
+}

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

@@ -6,28 +6,66 @@ package frc.robot.Subsystems;
 
 
 
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
   public Lanceur() {}
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
-  final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
+  final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
+  private GenericEntry vitesse =
+        dashboard.add("vitesselanceur", 0.2)
+        .withSize(0,0)
+        .withPosition(1, 4)
+        .getEntry();
+        private GenericEntry rotation =
+        dashboard.add("rottourel", 0.2)
+        .withSize(0,0)
+        .withPosition(1, 5)
+        .getEntry();
+  public void encodeur(double distance){
+    lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+  }
+  public void masterslave(){
+    lanceur2.follow(lanceur1);
+    lanceur2.setInverted(true);
+  }
   public void lance(double vitesse){
-    lanceur1.set(vitesse);
-    lanceur2.set(-vitesse);
+    lanceur1.set(vitesse);lanceur2.set(vitesse);
   }
-  public void tourelRotation(double vitesse){
-    tourel.set(vitesse);
+  public void lance(){  
+    lance(vitesse.getDouble(0.2));
   }
-  public void setPID(double p, double i, int d) {
+  public void tourelRotation(double x, double y, double rotation){
+    tourelle.set(rotation);
+  }
+  public void tourelRotation(){
+    tourelle.set(rotation.getDouble(0.1));
+  }
+  public double vitessetourel(){
+   return(tourelle.getEncoder().getVelocity()); 
+  }
+  public double distancetourel(){
+    return(tourelle.getEncoder().getPosition());
+  }
+  public void PIDlanceur(double p, double i, double d) {
+   lanceur1.config_kP(0, p);
+   lanceur1.config_kI(0, i);
+   lanceur1.config_kD(0, d);
   }
   @Override
   public void periodic() {

src/main/java/frc/robot/Subsystems/Limelight3G.java

@@ -0,0 +1,51 @@
+// 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;
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
+public class Limelight3G extends SubsystemBase {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
+  NetworkTableEntry tx = table.getEntry("tx");
+  NetworkTableEntry ty = table.getEntry("ty");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  NetworkTableEntry tv = table.getEntry("tv");
+  NetworkTableEntry camMode = table.getEntry("camMode");
+  NetworkTableEntry tid = table.getEntry("tid");
+  /** Creates a new Limelight. */
+  public Limelight3G() {
+    for (int port = 5800; port <= 5807; port++) {
+      PortForwarder.add(port, "limelight.local", port);
+  }}
+  public  double getx(){
+    return tx.getDouble(0); 
+  }
+  public double gety(){
+    return ty.getDouble(0);
+  }
+  public double getv(){
+    return tv.getDouble(0);
+  }
+  public void setpipeline(){
+     pipeline.setNumber(0);
+  }
+  public void setcamMode(){
+    camMode.setNumber(0);
+  }
+  public double getTid(){
+    return tid.getDouble(0);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

vendordeps/PathplannerLib.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib.json",
+    "name": "PathplannerLib",
+    "version": "2024.2.8",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.2.8"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.2.8",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}