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

.pathplanner/settings.json

@@ -0,0 +1,16 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "1"
+  ],
+  "autoFolders": [
+    "1"
+  ],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}

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": "1",
+  "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": "1",
+  "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": "1",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

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

@@ -17,10 +17,8 @@ public class Accumulateur extends SubsystemBase {
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
   final DigitalInput limitacc = new DigitalInput(0);
-  
+  public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
-  public void Deaccumuler(double vitesse){
+  public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
-    Moteuracc2.set(vitesse);}
-  
 
   @Override
   public void periodic() {

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

@@ -18,11 +18,9 @@ public class Grimpeur extends SubsystemBase {
   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);
@@ -42,14 +40,10 @@ public void resetencodeurd(){
 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

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
+  }
+}