PLS5618/robot-2024
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

mode auto

Browse Source
This commit is contained in:
samuel desharnais 2024-02-19 19:01:52 -05:00
parent 1476b1eae3
commit 55ad4f60ce
34 changed files with 188 additions and 93 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

0
src/main/deploy/pathplanner/autos/7.auto → src/main/deploy/pathplanner/autos/B recule.auto
View File

0
src/main/deploy/pathplanner/autos/1.1.auto → src/main/deploy/pathplanner/autos/B.C.1.auto
View File

0
src/main/deploy/pathplanner/autos/1.2.auto → src/main/deploy/pathplanner/autos/B.C.2.auto
View File

29
src/main/deploy/pathplanner/autos/1.4.auto → src/main/deploy/pathplanner/autos/B.C.3.auto
View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "1.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

35
src/main/deploy/pathplanner/autos/1.3.auto → src/main/deploy/pathplanner/autos/B.C.4.auto
View File

@ -31,29 +31,42 @@
} }
}, },
{ {
"type": "path", "type": "sequential",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "1.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]
} }
},
{
"type": "path",
"data": {
"pathName": "1.2"
}
} }
] ]
} }

29
src/main/deploy/pathplanner/autos/1.5.auto → src/main/deploy/pathplanner/autos/B.C.5.auto
View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "1.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

0
src/main/deploy/pathplanner/autos/2.1.auto → src/main/deploy/pathplanner/autos/B.D.1.auto
View File

0
src/main/deploy/pathplanner/autos/2.2.auto → src/main/deploy/pathplanner/autos/B.D.2.auto
View File

29
src/main/deploy/pathplanner/autos/2.3.auto → src/main/deploy/pathplanner/autos/B.D.3.auto
View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "2.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

29
src/main/deploy/pathplanner/autos/2.4.auto → src/main/deploy/pathplanner/autos/B.D.4.auto
View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "2.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

29
src/main/deploy/pathplanner/autos/2.5.auto → src/main/deploy/pathplanner/autos/B.D.5.auto
View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "2.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

0
src/main/deploy/pathplanner/autos/3.1.auto → src/main/deploy/pathplanner/autos/B.H.1.auto
View File

0
src/main/deploy/pathplanner/autos/3.2.auto → src/main/deploy/pathplanner/autos/B.H.2.auto
View File

30
src/main/deploy/pathplanner/autos/3.3.auto → src/main/deploy/pathplanner/autos/B.H.3.auto
View File

@ -31,9 +31,35 @@
} }
}, },
{ {
"type": "path", "type": "sequential",
"data": { "data": {
"pathName": "3.1" "commands": [
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]
} }
}, },
{ {

29
src/main/deploy/pathplanner/autos/3.4.auto → src/main/deploy/pathplanner/autos/B.H.4.auto
View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "3.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "lancer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

0
src/main/deploy/pathplanner/autos/3.5.auto → src/main/deploy/pathplanner/autos/B.H.5.auto
View File

0
src/main/deploy/pathplanner/autos/8.auto → src/main/deploy/pathplanner/autos/R recule.auto
View File

0
src/main/deploy/pathplanner/autos/4.1.auto → src/main/deploy/pathplanner/autos/R.C.1.auto
View File

0
src/main/deploy/pathplanner/autos/4.2.auto → src/main/deploy/pathplanner/autos/R.C.2.auto
View File

0
src/main/deploy/pathplanner/autos/4.3.auto → src/main/deploy/pathplanner/autos/R.C.3.auto
View File

0
src/main/deploy/pathplanner/autos/4.4.auto → src/main/deploy/pathplanner/autos/R.C.4.auto
View File

0
src/main/deploy/pathplanner/autos/4.5.auto → src/main/deploy/pathplanner/autos/R.C.5.auto
View File

0
src/main/deploy/pathplanner/autos/5.1.auto → src/main/deploy/pathplanner/autos/R.D.1.auto
View File

0
src/main/deploy/pathplanner/autos/5.2.auto → src/main/deploy/pathplanner/autos/R.D.2.auto
View File

0
src/main/deploy/pathplanner/autos/5.3.auto → src/main/deploy/pathplanner/autos/R.D.3.auto
View File

0
src/main/deploy/pathplanner/autos/5.4.auto → src/main/deploy/pathplanner/autos/R.D.4.auto
View File

0
src/main/deploy/pathplanner/autos/5.5.auto → src/main/deploy/pathplanner/autos/R.D.5.auto
View File

0
src/main/deploy/pathplanner/autos/6.1.auto → src/main/deploy/pathplanner/autos/R.H.1.auto
View File

0
src/main/deploy/pathplanner/autos/6.2.auto → src/main/deploy/pathplanner/autos/R.H.2.auto
View File

0
src/main/deploy/pathplanner/autos/6.3.auto → src/main/deploy/pathplanner/autos/R.H.3.auto
View File

0
src/main/deploy/pathplanner/autos/6.4.auto → src/main/deploy/pathplanner/autos/R.H.4.auto
View File

0
src/main/deploy/pathplanner/autos/6.5.auto → src/main/deploy/pathplanner/autos/R.H.5.auto
View File

2
src/main/deploy/pathplanner/paths/1.1.path
View File

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

40
src/main/java/frc/robot/subsystem/Lanceur.java
View File

@ -32,19 +32,33 @@ public class Lanceur extends SubsystemBase {
final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless); final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless); final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, 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){ public void lancer(double vitesse){
lanceur1.set(-vitesse); lanceur1.set(-vitesse);