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

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This commit is contained in:
Antoine PerreaultE 2024-01-23 20:11:02 -05:00
commit 0476fe3da2
22 changed files with 687 additions and 37 deletions
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10
.pathplanner/settings.json
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@ -6,15 +6,21 @@
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"4"
"8"
],
"autoFolders": [
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"4"
"8"
],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,

25
src/main/deploy/pathplanner/autos/1.1.auto Normal file
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@ -0,0 +1,25 @@
{
"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"
}
}
]
}
},
"folder": "1",
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/2.1.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 4.4
},
"rotation": 120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "2.1"
}
}
]
}
},
"folder": "2",
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/3.1.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "3.1"
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/4.1.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.2,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "4.1"
}
}
]
}
},
"folder": "4",
"choreoAuto": false
}

19
src/main/deploy/pathplanner/autos/4.auto
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@ -2,15 +2,28 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 2,
"y": 2
"x": 15.2,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": []
"commands": [
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "path",
"data": {
"pathName": "4.2"
}
}
]
}
},
"folder": "4",

25
src/main/deploy/pathplanner/autos/5.1.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

31
src/main/deploy/pathplanner/autos/5.auto Normal file
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@ -0,0 +1,31 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "path",
"data": {
"pathName": "5.2"
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/6.1.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.8,
"y": 6.65
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "6.1"
}
}
]
}
},
"folder": "6",
"choreoAuto": false
}

31
src/main/deploy/pathplanner/autos/6.auto Normal file
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@ -0,0 +1,31 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.8,
"y": 6.65
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "path",
"data": {
"pathName": "6.2"
}
}
]
}
},
"folder": "6",
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/8.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.25,
"y": 3.0
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "8"
}
}
]
}
},
"folder": "8",
"choreoAuto": false
}

32
src/main/deploy/pathplanner/paths/4.1.path
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@ -3,41 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
"x": 15.2,
"y": 5.55
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 6.5
"x": 15.2104492025505,
"y": 5.55
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.0,
"y": 5.0
"x": 14.0,
"y": 5.55
},
"prevControl": {
"x": 4.0,
"y": 6.0
},
"nextControl": {
"x": 6.0,
"y": 4.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.0,
"y": 1.0
},
"prevControl": {
"x": 6.75,
"y": 2.5
"x": 13.969168557398792,
"y": 5.55
},
"nextControl": null,
"isLocked": false,

49
src/main/deploy/pathplanner/paths/4.2.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 14.0,
"y": 5.55
},
"prevControl": null,
"nextControl": {
"x": 15.118033988749895,
"y": 5.55
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 15.2,
"y": 5.55
},
"prevControl": {
"x": 15.192584874480913,
"y": 5.547612425391122
},
"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": "4",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/5.1.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 15.85,
"y": 4.4
},
"prevControl": null,
"nextControl": {
"x": 15.85312975966851,
"y": 4.40542090276134
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 14.0,
"y": 4.1
},
"prevControl": {
"x": 13.990250241783144,
"y": 4.090250241783143
},
"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": "5",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/5.2.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 14.0,
"y": 4.1
},
"prevControl": null,
"nextControl": {
"x": 14.002432289858724,
"y": 4.1
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 15.85,
"y": 4.4
},
"prevControl": {
"x": 15.82771353771501,
"y": 4.361398715001432
},
"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": 60.38412103232163,
"rotateFast": false
},
"reversed": false,
"folder": "5",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/6.1.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 15.8,
"y": 6.65
},
"prevControl": null,
"nextControl": {
"x": 15.810493547475788,
"y": 6.65
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 14.0,
"y": 7.0
},
"prevControl": {
"x": 14.009749758216856,
"y": 6.990250241783143
},
"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": "6",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/6.2.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 14.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 14.023088833925678,
"y": 7.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 15.8,
"y": 6.65
},
"prevControl": {
"x": 15.806819642142848,
"y": 6.668834620329574
},
"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": -58.20379119767198,
"rotateFast": false
},
"reversed": false,
"folder": "6",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/8.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 15.25,
"y": 3.0
},
"prevControl": null,
"nextControl": {
"x": 15.242762626364385,
"y": 3.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 14.0,
"y": 3.0
},
"prevControl": {
"x": 14.014562140186673,
"y": 3.0
},
"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": 179.21331928381937,
"rotateFast": false
},
"reversed": false,
"folder": "8",
"previewStartingState": null,
"useDefaultConstraints": false
}

45
src/main/java/frc/robot/command/GuiderBas.java Normal file
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@ -0,0 +1,45 @@
// 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.command;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Guideur;
public class GuiderBas extends Command {
private Guideur guideur;
/** Creates a new Guideur. */
public GuiderBas(Guideur guideur) {
this.guideur = guideur;
addRequirements(guideur);
// 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(guideur.bas()){
guideur.guider(0);
}
else{
guideur.guider(0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
guideur.guider(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

45
src/main/java/frc/robot/command/GuiderHaut.java Normal file
View File

@ -0,0 +1,45 @@
// 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.command;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Guideur;
public class GuiderHaut extends Command {
private Guideur guideur;
/** Creates a new GuiderHaut. */
public GuiderHaut() {
this.guideur = guideur;
addRequirements(guideur);
// 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(guideur.haut()){
guideur.guider(0);
}
else{
guideur.guider(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
guideur.guider(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

32
src/main/java/frc/robot/command/Lancer.java Normal file
View File

@ -0,0 +1,32 @@
// 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.command;
import edu.wpi.first.wpilibj2.command.Command;
public class Lancer extends Command {
/** Creates a new Lanceur. */
public Lancer() {
// 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() {}
// 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;
}
}

10
src/main/java/frc/robot/subsystem/Balayeuse.java
View File

@ -16,14 +16,8 @@ public class Balayeuse extends SubsystemBase {
public Balayeuse() {}
final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
final TalonSRX etoile = new TalonSRX(Constants.etoile);
public void Accumulation(double vitesse){
roue.set(vitesse);
}
public void balayeuse(){
etoile.follow(roue);
etoile.setInverted(true);
}
public void Accumulation(double vitesse){roue.set(vitesse);}
public void balayeuse(){etoile.follow(roue); etoile.setInverted(true);}
@Override
public void periodic() {
// This method will be called once per scheduler run