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

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This commit is contained in:
Olivier Dubois 2024-01-23 19:00:32 -05:00
commit 412a2ce904
12 changed files with 426 additions and 3 deletions
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12
.pathplanner/settings.json
View File

@ -3,10 +3,18 @@
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [
"1"
"1",
"2",
"3",
"7",
"4"
],
"autoFolders": [
"1"
"1",
"2",
"3",
"7",
"4"
],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,

31
src/main/deploy/pathplanner/autos/2.auto Normal file
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@ -0,0 +1,31 @@
{
"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"
}
},
{
"type": "path",
"data": {
"pathName": "2.2"
}
}
]
}
},
"folder": "2",
"choreoAuto": false
}

31
src/main/deploy/pathplanner/autos/3.auto Normal file
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@ -0,0 +1,31 @@
{
"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"
}
},
{
"type": "path",
"data": {
"pathName": "3.2"
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

18
src/main/deploy/pathplanner/autos/4.auto Normal file
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@ -0,0 +1,18 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2,
"y": 2
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": []
}
},
"folder": "4",
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/7.auto Normal file
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@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.35,
"y": 3.0
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "7"
}
}
]
}
},
"folder": "7",
"choreoAuto": false
}

49
src/main/deploy/pathplanner/paths/2.1.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.7,
"y": 4.4
},
"prevControl": null,
"nextControl": {
"x": 0.6894957404489546,
"y": 4.418193911238301
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.65,
"y": 4.1
},
"prevControl": {
"x": 2.6158093583592366,
"y": 4.1
},
"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": -179.40693596496888,
"rotateFast": false
},
"reversed": false,
"folder": "2",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/2.2.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.65,
"y": 4.1
},
"prevControl": null,
"nextControl": {
"x": 2.6706170787257038,
"y": 4.1
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.7,
"y": 4.4
},
"prevControl": {
"x": 0.7125895024720742,
"y": 4.378194342076354
},
"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": 121.31253418670846,
"rotateFast": false
},
"reversed": false,
"folder": "2",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/3.1.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.7,
"y": 6.7
},
"prevControl": null,
"nextControl": {
"x": 0.6993965107276529,
"y": 6.6989547259184725
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.7,
"y": 7.0
},
"prevControl": {
"x": 2.6949379619996434,
"y": 7.0
},
"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": 179.97207043158542,
"rotateFast": false
},
"reversed": false,
"folder": "3",
"previewStartingState": null,
"useDefaultConstraints": false
}

49
src/main/deploy/pathplanner/paths/3.2.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.7,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 2.710911765291465,
"y": 6.990576641485824
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.7,
"y": 6.7
},
"prevControl": {
"x": 0.7125383894358018,
"y": 6.713974263386468
},
"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": -120.9841650982781,
"rotateFast": false
},
"reversed": false,
"folder": "3",
"previewStartingState": null,
"useDefaultConstraints": false
}

65
src/main/deploy/pathplanner/paths/4.1.path Normal file
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@ -0,0 +1,65 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 6.5
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.0,
"y": 5.0
},
"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
},
"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/7.path Normal file
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@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.35,
"y": 3.0
},
"prevControl": null,
"nextControl": {
"x": 1.3576779647621067,
"y": 2.993175772574823
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.2198817841816214,
"y": 3.0
},
"prevControl": {
"x": 3.20038226774791,
"y": 3.019499516433713
},
"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": "7",
"previewStartingState": null,
"useDefaultConstraints": false
}

2
src/main/java/frc/robot/subsystem/Guideur.java
View File

@ -16,7 +16,7 @@ public class Guideur extends SubsystemBase {
final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
final DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
final DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
public void guider(double vitesse){
guideur.set(vitesse);