mode auto

src/main/deploy/pathplanner/autos/B.C.3.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -54,6 +58,9 @@
                     }
                   ]
                 }
+              }
+            ]
+          }
         },
         {
           "type": "path",

src/main/deploy/pathplanner/autos/B.C.4.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -58,6 +62,15 @@
             ]
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.2"
+          }
+        }
+      ]
+    }
+  },
   "folder": "1",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/B.C.5.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -54,6 +58,9 @@
                     }
                   ]
                 }
+              }
+            ]
+          }
         },
         {
           "type": "path",

src/main/deploy/pathplanner/autos/B.D.3.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -57,6 +61,9 @@
               }
             ]
           }
+        }
+      ]
+    }
   },
   "folder": "2",
   "choreoAuto": false

src/main/deploy/pathplanner/autos/B.D.4.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -54,6 +58,9 @@
                     }
                   ]
                 }
+              }
+            ]
+          }
         },
         {
           "type": "path",

src/main/deploy/pathplanner/autos/B.D.5.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -54,6 +58,9 @@
                     }
                   ]
                 }
+              }
+            ]
+          }
         },
         {
           "type": "path",

src/main/deploy/pathplanner/autos/B.H.3.auto

@@ -30,12 +30,38 @@
             ]
           }
         },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
                   "pathName": "3.1"
                 }
               },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "deadline",
           "data": {

src/main/deploy/pathplanner/autos/B.H.4.auto

@@ -30,6 +30,10 @@
             ]
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "path",
                 "data": {
@@ -49,7 +53,10 @@
                     {
                       "type": "named",
                       "data": {
-                  "name": "lancer"
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

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

@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.3044999237387323,
+    "rotation": -179.69010821508004,
     "rotateFast": false
   },
   "reversed": false,

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

@@ -32,19 +32,33 @@ public class Lanceur extends SubsystemBase {
   final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
   final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
   final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
-  public void pid(){
+  public void pidspeaker(){
-    lanceur1.getPIDController().setP(0.2);
+    lanceur1.getPIDController().setP(0.5);
-    lanceur1.getPIDController().setI(0.2);
+    lanceur1.getPIDController().setI(0.5);
-    lanceur1.getPIDController().setD(0.2);
+    lanceur1.getPIDController().setD(0.5);
-    lanceur2.getPIDController().setP(0.2);
+    lanceur2.getPIDController().setP(0.5);
-    lanceur1.getPIDController().setI(0.2);
+    lanceur1.getPIDController().setI(0.5);
-    lanceur2.getPIDController().setD(0.2);
+    lanceur2.getPIDController().setD(0.5);
-    lanceur3.getPIDController().setP(0.2);
+    lanceur3.getPIDController().setP(0.5);
-    lanceur3.getPIDController().setI(0.2);
+    lanceur3.getPIDController().setI(0.5);
-    lanceur3.getPIDController().setD(0.2);
+    lanceur3.getPIDController().setD(0.5);
-    lanceur4.getPIDController().setP(0.2);
+    lanceur4.getPIDController().setP(0.5);
-    lanceur4.getPIDController().setI(0.2);
+    lanceur4.getPIDController().setI(0.5);
-    lanceur4.getPIDController().setD(0.2);
+    lanceur4.getPIDController().setD(0.5);
+  }
+  public void pidampli(){
+    lanceur1.getPIDController().setP(0.1);
+    lanceur1.getPIDController().setI(0.1);
+    lanceur1.getPIDController().setD(0.1);
+    lanceur2.getPIDController().setP(0.1);
+    lanceur1.getPIDController().setI(0.1);
+    lanceur2.getPIDController().setD(0.1);
+    lanceur3.getPIDController().setP(0.1);
+    lanceur3.getPIDController().setI(0.1);
+    lanceur3.getPIDController().setD(0.1);
+    lanceur4.getPIDController().setP(0.1);
+    lanceur4.getPIDController().setI(0.1);
+    lanceur4.getPIDController().setD(0.1);
   }
   public void lancer(double vitesse){
     lanceur1.set(-vitesse);