This commit is contained in:
Olivier Dubois 2024-02-19 19:22:13 -05:00
commit 595065c250
36 changed files with 472 additions and 303 deletions

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@ -1,63 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

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@ -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"
}
}
]
} }
} }
] ]

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@ -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"
}
}
]
} }
} }
] ]

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@ -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"
}
} }
] ]
} }

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@ -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"
}
}
]
} }
} }
] ]

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@ -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"
}
}
]
} }
} }
] ]

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@ -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"
}
}
]
} }
} }
] ]

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"
}
}
]
} }
} }
] ]

View File

@ -0,0 +1,89 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"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": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

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"
}
}
]
} }
} }
] ]

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"
}
}
]
} }
} }
] ]

View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "4.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "4.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "4.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

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@ -15,58 +15,52 @@
"type": "deadline", "type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{ {
"type": "deadline", "type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "lancer" "name": "balyer"
} }
} }
] ]
} }
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
} }
] ]
} }
},
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "5.2"
}
} }
] ]
} }

View File

@ -15,16 +15,55 @@
"type": "deadline", "type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 3.0 "waitTime": 3.0
} }
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "lancer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]
@ -33,26 +72,7 @@
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "5.1" "pathName": "5.2"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

View File

@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "5.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "5.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

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@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "6.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

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@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "6.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

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@ -31,25 +31,32 @@
} }
}, },
{ {
"type": "path", "type": "parallel",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "path",
"data": { "data": {
"waitTime": 3.0 "pathName": "6.1"
} }
}, },
{ {
"type": "named", "type": "deadline",
"data": { "data": {
"name": "balyer" "commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
} }
} }
] ]

View File

@ -8,7 +8,7 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 1.2733425960299216, "x": 1.3266574039700785,
"y": 5.55 "y": 5.55
}, },
"isLocked": false, "isLocked": false,
@ -39,7 +39,7 @@
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0,
"rotation": -179.1243356864854, "rotation": -179.69010821508004,
"rotateFast": false "rotateFast": false
}, },
"reversed": false, "reversed": false,

View File

@ -32,8 +32,19 @@ 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(); lanceur1.getPIDController().setP(0.5);
lanceur1.getPIDController().setI(0.5);
lanceur1.getPIDController().setD(0.5);
lanceur2.getPIDController().setP(0.5);
lanceur2.getPIDController().setI(0.5);
lanceur2.getPIDController().setD(0.5);
lanceur3.getPIDController().setP(0.5);
lanceur3.getPIDController().setI(0.5);
lanceur3.getPIDController().setD(0.5);
lanceur4.getPIDController().setP(0.5);
lanceur4.getPIDController().setI(0.5);
lanceur4.getPIDController().setD(0.5);
} }
public void lancer(double vitesse){ public void lancer(double vitesse){
lanceur1.set(-vitesse); lanceur1.set(-vitesse);