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samuel desharnais 2024-02-01 19:20:32 -05:00
parent 834d67d437
commit 76c55bf984
34 changed files with 1586 additions and 64 deletions
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17
src/main/deploy/pathplanner/autos/1.1.auto
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@ -12,9 +12,22 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "1.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
} }
] ]

19
src/main/deploy/pathplanner/autos/1.auto → src/main/deploy/pathplanner/autos/1.2.auto
View File

@ -12,15 +12,28 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "1.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
}, },
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "1.2" "pathName": "1.1"
} }
} }
] ]

63
src/main/deploy/pathplanner/autos/1.3.auto Normal file
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@ -0,0 +1,63 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3,
"y": 5.55
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "1",
"choreoAuto": false
}

69
src/main/deploy/pathplanner/autos/1.4.auto Normal file
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@ -0,0 +1,69 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3,
"y": 5.55
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "1.2"
}
}
]
}
},
"folder": "1",
"choreoAuto": false
}

88
src/main/deploy/pathplanner/autos/1.5.auto Normal file
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@ -0,0 +1,88 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3,
"y": 5.55
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "1.2"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "1",
"choreoAuto": false
}

17
src/main/deploy/pathplanner/autos/2.1.auto
View File

@ -12,9 +12,22 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "2.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
} }
] ]

19
src/main/deploy/pathplanner/autos/2.auto → src/main/deploy/pathplanner/autos/2.2.auto
View File

@ -12,15 +12,28 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "2.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
}, },
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "2.2" "pathName": "2.1"
} }
} }
] ]

63
src/main/deploy/pathplanner/autos/2.3.auto Normal file
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@ -0,0 +1,63 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 4.4
},
"rotation": 120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "2",
"choreoAuto": false
}

69
src/main/deploy/pathplanner/autos/2.4.auto Normal file
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@ -0,0 +1,69 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 4.4
},
"rotation": 120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "2.2"
}
}
]
}
},
"folder": "2",
"choreoAuto": false
}

88
src/main/deploy/pathplanner/autos/2.5.auto Normal file
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@ -0,0 +1,88 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 4.4
},
"rotation": 120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "2.2"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "2",
"choreoAuto": false
}

17
src/main/deploy/pathplanner/autos/3.1.auto
View File

@ -12,9 +12,22 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "3.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
} }
] ]

19
src/main/deploy/pathplanner/autos/3.auto → src/main/deploy/pathplanner/autos/3.2.auto
View File

@ -12,15 +12,28 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "3.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
}, },
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "3.2" "pathName": "3.1"
} }
} }
] ]

63
src/main/deploy/pathplanner/autos/3.3.auto Normal file
View File

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

69
src/main/deploy/pathplanner/autos/3.4.auto Normal file
View File

@ -0,0 +1,69 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.2"
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

88
src/main/deploy/pathplanner/autos/3.5.auto Normal file
View File

@ -0,0 +1,88 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.2"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

17
src/main/deploy/pathplanner/autos/4.1.auto
View File

@ -12,9 +12,22 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "4.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
} }
] ]

19
src/main/deploy/pathplanner/autos/4.auto → src/main/deploy/pathplanner/autos/4.2.auto
View File

@ -12,15 +12,28 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "4.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
}, },
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "4.2" "pathName": "4.1"
} }
} }
] ]

63
src/main/deploy/pathplanner/autos/4.3.auto Normal file
View File

@ -0,0 +1,63 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.2,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "4",
"choreoAuto": false
}

69
src/main/deploy/pathplanner/autos/4.4.auto Normal file
View File

@ -0,0 +1,69 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.2,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "4.2"
}
}
]
}
},
"folder": "4",
"choreoAuto": false
}

88
src/main/deploy/pathplanner/autos/4.5.auto Normal file
View File

@ -0,0 +1,88 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.2,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "4.2"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "4",
"choreoAuto": false
}

24
src/main/deploy/pathplanner/autos/5.1.auto
View File

@ -12,9 +12,29 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "5.1" "commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
} }
] ]

51
src/main/deploy/pathplanner/autos/5.2.auto Normal file
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@ -0,0 +1,51 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "5.1"
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

70
src/main/deploy/pathplanner/autos/5.3.auto Normal file
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@ -0,0 +1,70 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"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
}
}
]
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

76
src/main/deploy/pathplanner/autos/5.4.auto Normal file
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@ -0,0 +1,76 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"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"
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

95
src/main/deploy/pathplanner/autos/5.5.auto Normal file
View File

@ -0,0 +1,95 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"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"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

31
src/main/deploy/pathplanner/autos/5.auto
View File

@ -1,31 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.85,
"y": 4.4
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "path",
"data": {
"pathName": "5.2"
}
}
]
}
},
"folder": "5",
"choreoAuto": false
}

17
src/main/deploy/pathplanner/autos/6.1.auto
View File

@ -12,9 +12,22 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "6.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
} }
] ]

19
src/main/deploy/pathplanner/autos/6.auto → src/main/deploy/pathplanner/autos/6.2.auto
View File

@ -12,15 +12,28 @@
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "path", "type": "deadline",
"data": { "data": {
"pathName": "6.1" "commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
} }
}, },
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "6.2" "pathName": "6.1"
} }
} }
] ]

63
src/main/deploy/pathplanner/autos/6.3.auto Normal file
View File

@ -0,0 +1,63 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.8,
"y": 6.65
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "6",
"choreoAuto": false
}

69
src/main/deploy/pathplanner/autos/6.4.auto Normal file
View File

@ -0,0 +1,69 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.8,
"y": 6.65
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "6.2"
}
}
]
}
},
"folder": "6",
"choreoAuto": false
}

88
src/main/deploy/pathplanner/autos/6.5.auto Normal file
View File

@ -0,0 +1,88 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 15.8,
"y": 6.65
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "6.2"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
}
]
}
},
"folder": "6",
"choreoAuto": false
}

19
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,8 +4,13 @@
package frc.robot; package frc.robot;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -19,7 +24,9 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.command.Balayer; import frc.robot.command.Balayer;
import frc.robot.command.GuiderBas; import frc.robot.command.GuiderBas;
import frc.robot.command.GuiderHaut; import frc.robot.command.GuiderHaut;
import frc.robot.command.Lancer;
import frc.robot.command.LancerNote;
import frc.robot.command.Lancerampli;
// Subsystems // Subsystems
import frc.robot.subsystem.Accumulateur; import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse; import frc.robot.subsystem.Balayeuse;
@ -30,7 +37,7 @@ import frc.robot.subsystem.Lanceur;
public class RobotContainer { public class RobotContainer {
private final SendableChooser<Command> autoChooser;
Drive drive = new Drive(); Drive drive = new Drive();
Accumulateur accumulateur = new Accumulateur(); Accumulateur accumulateur = new Accumulateur();
Balayeuse balayeuse = new Balayeuse(); Balayeuse balayeuse = new Balayeuse();
@ -40,11 +47,13 @@ public class RobotContainer {
Balayer balayer = new Balayer(balayeuse, accumulateur); Balayer balayer = new Balayer(balayeuse, accumulateur);
GuiderHaut guiderHaut = new GuiderHaut(guideur); GuiderHaut guiderHaut = new GuiderHaut(guideur);
GuiderBas guiderBas = new GuiderBas(guideur); GuiderBas guiderBas = new GuiderBas(guideur);
LancerNote lancernote = new LancerNote(lanceur, accumulateur);
Lancerampli lancerampli = new Lancerampli(lanceur);
CommandJoystick joystick = new CommandJoystick(0); CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1); CommandXboxController manette = new CommandXboxController(1);
public RobotContainer() { public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
manette.a().onTrue(guiderBas); manette.a().onTrue(guiderBas);
@ -53,6 +62,8 @@ 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() {
@ -62,6 +73,6 @@ public class RobotContainer {
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return new SequentialCommandGroup(null); return null;
} }
} }

2
src/main/java/frc/robot/command/Lancer.java
View File

@ -13,7 +13,7 @@ import frc.robot.subsystem.Lanceur;
public class Lancer extends Command { public class Lancer extends Command {
/** Creates a new Lanceur. */ /** Creates a new Lanceur. */
private Lanceur lanceur; private Lanceur lanceur;
public Lancer() { public Lancer(Lanceur lanceur) {
this.lanceur = lanceur; this.lanceur = lanceur;
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
addRequirements(lanceur); addRequirements(lanceur);

2
src/main/java/frc/robot/command/Lancerampli.java
View File

@ -15,7 +15,7 @@ public class Lancerampli extends Command {
private Lanceur lanceur; private Lanceur lanceur;
public Lancerampli() { public Lancerampli(Lanceur lanceur) {
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
addRequirements(lanceur); addRequirements(lanceur);
this.lanceur = lanceur; this.lanceur = lanceur;