Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3,
+      "y": 5.55
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/1.1.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.3,
+        "y": 5.55
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.2733425960299216,
+        "y": 5.55
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.59859163592971,
+        "y": 5.55
+      },
+      "prevControl": {
+        "x": 2.534011049823752,
+        "y": 5.55
+      },
+      "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": -179.1243356864854,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/1.2.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.6,
+        "y": 5.55
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.6266574039700785,
+        "y": 5.55
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.3,
+        "y": 5.55
+      },
+      "prevControl": {
+        "x": 1.2354194138940418,
+        "y": 5.55
+      },
+      "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": -179.1243356864854,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

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": 80.332,
+  "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": 7,
+    "canbus": null
+  }
+}

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

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 28.74,
+  "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": 6,
+    "canbus": null
+  }
+}

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

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset": 98.438,
+  "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": 17.227,
+  "drive": {
+    "type": "sparkmax",
+    "id": 17,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 18,
+    "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": 0.0020645,
+    "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/Constants.java

@@ -6,17 +6,47 @@ package frc.robot;
 
 /** Add your docs here. */
 public class Constants {
-    //moteur
-    public static int lanceur = 1;
-    public static int lancer2 = 2;
-    public static int roue = 3;
-    public static int etoile = 4;
-    public static int Moteuracc2 = 5;
-    public static int Moteuracc = 6;
-    public static int guideur = 7;
-    // limit switsh
-    public static int guideurhaut = 8;
-    public static int guideurbas = 9;
-    public static int limitacc = 58;
+    // Lanceur
+    public static int lanceur = 10;
+    public static int lancer2 = 13;
+    public static int lancer3 = 14;
+    public static int lancer4 = 15;
+    // Ballayeuse
+    public static int roue = 16;
+    public static int etoile = 19;
+
+    // Accumulateur
+    public static int Moteuracc2 = 20;
+    public static int Moteuracc = 21;
+
+    // Guideur
+    public static int guideur = 22;
+
+    //grimpeur
+    public static int grimpeurd = 26;
+    public static int grimpeurg = 27;
+
+    // Swerve
+    public static int AvantDroitDrive = 17;
+    public static int AvantDroitAngle = 18;
+    public static int AvantGaucheDrive = 2;
+    public static int AvantGaucheAngle = 3;
+    public static int ArriereDroitDrive = 11;
+    public static int ArriereDroitAngle = 12;
+    public static int ArriereGaucheDrive = 8;
+    public static int ArriereGaucheAngle = 9;
+
+    // CanCoder
+    public static int AvantDroit = 5;
+    public static int AvantGauche = 4;
+    public static int ArriereDroit = 6;
+    public static int ArriereGauche = 7;
+
+    // Limit switsh
+    public static int guideurhaut = 23;
+    public static int guideurbas = 24;
+    public static int limitacc = 25;
+    public static int limithaut = 28;
+    public static int limitbas = 29;
   
 }

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

@@ -13,6 +13,7 @@ import frc.robot.Constants;
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
   public Accumulateur() {}
+
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
   final DigitalInput limitacc = new DigitalInput(0);

src/main/java/frc/robot/subsystem/Balayeuse.java

@@ -6,7 +6,6 @@ package frc.robot.subsystem;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import com.revrobotics.CANSparkMax;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;

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

@@ -4,11 +4,41 @@
 
 package frc.robot.subsystem;
 
+import java.io.File;
+import java.io.IOException;
+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 {
   /** Creates a new Drive. */
-  public Drive() {}
+
+   SwerveDrive swerveDrive;
+
+  File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
+  
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);
+  }
+  
+  public Drive() {
+
+     try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
+
+  public SwerveModulePosition[] distance(){
+    return swerveDrive.getModulePositions();
+  }
+public void reset(){
+
+}
 
   @Override
   public void periodic() {

src/main/java/frc/robot/subsystem/Grimpeur.java

@@ -0,0 +1,60 @@
+// 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.subsystem;
+
+import com.kauailabs.navx.frc.AHRS;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Grimpeur extends SubsystemBase {
+  /** Creates a new Acrocheur. */
+  // moteur
+  public Grimpeur() {}
+  final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
+  final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
+  // limit switch
+  final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
+  final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
+  //fonction
+public void droit(double vitesse){
+  grimpeurd.set(vitesse);
+} 
+public void gauche(double vitesse){
+  grimpeurg.set(vitesse);
+} 
+public boolean droite(){
+  return limitdroite.get();
+}
+public boolean gauche(){
+  return limitgauche.get();
+}
+public void resetencodeurd(){
+  grimpeurd.getEncoder().setPosition(0);
+}
+public void resetencodeurg(){
+  grimpeurg.getEncoder().setPosition(0);
+}
+public void grimpeur(){
+  grimpeurg.follow(grimpeurd);
+}
+public AHRS gyroscope = new AHRS();
+  public double getpitch(){
+    return gyroscope.getPitch();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    if(droite()) {
+      resetencodeurd();
+    }
+    if(gauche()) {
+      resetencodeurg();
+    }
+  }
+}

src/main/java/frc/robot/subsystem/Guideur.java

@@ -13,9 +13,20 @@ import frc.robot.Constants;
 public class Guideur extends SubsystemBase {
   /** Creates a new Guideur. */
   public Guideur() {}
+  
     final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
-    private DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
-      private DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
+    final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
+      final DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
+
+      public void guider(double vitesse){
+        guideur.set(vitesse);
+      }
+      public boolean haut(){
+        return guideurhaut.get();
+      }
+      public boolean bas(){
+        return guideurbas.get();
+      }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -18,16 +18,20 @@ public class Lanceur extends SubsystemBase {
   public Lanceur() {}
   final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
+  final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
+  final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
+
     public void lancer(double vitesse){
       lancer.set(vitesse);
   }
   public void lanceur(){
     lancer2.follow(lancer);
+    lancer3.follow(lancer);
+    lancer4.follow(lancer);
+    lancer3.setInverted(true);
+    lancer4.setInverted(true);
   }
 
- 
-
-
   @Override
   public void periodic() {}
     // This method will be called once per scheduler run

src/main/java/frc/robot/subsystem/Pixy.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.subsystem;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Pixy extends SubsystemBase {
+  
+  /** Creates a new Pixy. */
+  public Pixy() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}