PLS5618/robot-2024
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This commit is contained in:
samuel desharnais 2024-02-01 20:01:29 -05:00
parent 16600ad317
commit 20fbdd124c
2 changed files with 19 additions and 3 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@ -53,6 +53,8 @@ public class RobotContainer {
CommandXboxController manette = new CommandXboxController(1); CommandXboxController manette = new CommandXboxController(1);
public RobotContainer() { public RobotContainer() {
NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
autoChooser = AutoBuilder.buildAutoChooser(); autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
@ -62,8 +64,7 @@ public class RobotContainer {
drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{
drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2)); drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
},drive)); },drive));
NamedCommands.registerCommand("balayer",balayer);
NamedCommands.registerCommand("lancer", lancernote);
} }
private void configureBindings() { private void configureBindings() {

17
src/main/java/frc/robot/subsystem/Drive.java
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@ -7,10 +7,14 @@ package frc.robot.subsystem;
import java.io.File; import java.io.File;
import java.io.IOException; import java.io.IOException;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
import com.pathplanner.lib.util.PIDConstants;
import com.pathplanner.lib.util.ReplanningConfig;
import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import swervelib.SwerveDrive; import swervelib.SwerveDrive;
@ -28,6 +32,17 @@ public class Drive extends SubsystemBase {
} }
public Drive() { public Drive() {
AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
new PIDConstants(5,0,0), new PIDConstants(5,0,0), 4.5,
0.275,
new ReplanningConfig()
), ()->{
var alliance = DriverStation.getAlliance();
if(alliance.isPresent()){
return alliance.get() == DriverStation.Alliance.Red;
}
return false;
}, this);
try { try {
this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2); this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
} catch (IOException e) { } catch (IOException e) {