From 80b0197fe462bf672e8c697a406e8eafa670192d Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 14 Feb 2024 17:54:22 -0500 Subject: [PATCH 1/3] --- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/modules/frontright.json | 6 +++--- src/main/java/frc/robot/Constants.java | 4 ++-- 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index a9a2d30..0359ff1 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -12.375, "left": 12.375 }, - "absoluteEncoderOffset": 80.332, + "absoluteEncoderOffset": 120.762, "drive": { "type": "sparkmax", "id": 8, diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 679f08d..710a53a 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -12.375, "left": -12.375 }, - "absoluteEncoderOffset": 28.74, + "absoluteEncoderOffset": 96.768, "drive": { "type": "sparkmax", "id": 11, diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 3c37753..e7c7240 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 12.375, "left": 12.375 }, - "absoluteEncoderOffset": 98.438, + "absoluteEncoderOffset": 170.244, "drive": { "type": "sparkmax", "id": 2, diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index 87f8cd9..fac40c7 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,15 +3,15 @@ "front": 12.375, "left": -12.375 }, - "absoluteEncoderOffset": 17.227, + "absoluteEncoderOffset": 198.105, "drive": { "type": "sparkmax", - "id": 17, + "id": 18, "canbus": null }, "angle": { "type": "sparkmax", - "id": 18, + "id": 17, "canbus": null }, "inverted": { diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 2b43ab2..45fada4 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -27,8 +27,8 @@ public class Constants { public static int grimpeurg = 27; // Swerve - public static int AvantDroitDrive = 17; - public static int AvantDroitAngle = 18; + public static int AvantDroitDrive = 18; + public static int AvantDroitAngle = 17; public static int AvantGaucheDrive = 2; public static int AvantGaucheAngle = 3; public static int ArriereDroitDrive = 11; From 0294b52c0fcf0dcca5a4066e2d427f76a7517762 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 14 Feb 2024 18:56:52 -0500 Subject: [PATCH 2/3] m --- simgui.json | 15 --------------- src/main/deploy/swerve/modules/backleft.json | 4 ++-- src/main/deploy/swerve/modules/backright.json | 4 ++-- src/main/deploy/swerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/modules/frontright.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 2 +- 6 files changed, 7 insertions(+), 22 deletions(-) diff --git a/simgui.json b/simgui.json index fb42214..a59e1b2 100644 --- a/simgui.json +++ b/simgui.json @@ -1,10 +1,5 @@ { "HALProvider": { - "DIO": { - "window": { - "visible": true - } - }, "Other Devices": { "SPARK MAX [10]": { "header": { @@ -52,16 +47,6 @@ } } }, - "Solenoids": { - "0": { - "header": { - "open": true - } - }, - "window": { - "visible": true - } - }, "Timing": { "window": { "visible": false diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index 0359ff1..a42b4ff 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -12.375, "left": 12.375 }, - "absoluteEncoderOffset": 120.762, + "absoluteEncoderOffset": 299.443, "drive": { "type": "sparkmax", "id": 8, @@ -24,7 +24,7 @@ }, "encoder": { "type": "cancoder", - "id": 7, + "id": 6, "canbus": null } } \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 710a53a..41915eb 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -12.375, "left": -12.375 }, - "absoluteEncoderOffset": 96.768, + "absoluteEncoderOffset": 95.537, "drive": { "type": "sparkmax", "id": 11, @@ -24,7 +24,7 @@ }, "encoder": { "type": "cancoder", - "id": 6, + "id": 7, "canbus": null } } \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index e7c7240..64f8268 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 12.375, "left": 12.375 }, - "absoluteEncoderOffset": 170.244, + "absoluteEncoderOffset": 348.223 , "drive": { "type": "sparkmax", "id": 2, diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index fac40c7..36202ee 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,7 +3,7 @@ "front": 12.375, "left": -12.375 }, - "absoluteEncoderOffset": 198.105, + "absoluteEncoderOffset": 200.215, "drive": { "type": "sparkmax", "id": 18, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4a68b42..addad69 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -87,7 +87,7 @@ public class RobotContainer { // deplacement configureBindings(); 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)); // grimpeur manuel From 88c4a9552f1a0b19d806a7672f738c1a9b60846b Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 14 Feb 2024 18:59:37 -0500 Subject: [PATCH 3/3] retirer import inutile --- src/main/java/frc/robot/subsystem/Accumulateur.java | 2 -- src/main/java/frc/robot/subsystem/Balayeuse.java | 1 - src/main/java/frc/robot/subsystem/Drive.java | 2 -- src/main/java/frc/robot/subsystem/Grimpeur.java | 3 --- src/main/java/frc/robot/subsystem/Guideur.java | 1 - src/main/java/frc/robot/subsystem/Lanceur.java | 1 - src/main/java/frc/robot/subsystem/Limelight.java | 1 - 7 files changed, 11 deletions(-) diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index c2e53e2..f85e6c3 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -12,8 +12,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; -import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; public class Accumulateur extends SubsystemBase { /** Creates a new Accumulateur. */ diff --git a/src/main/java/frc/robot/subsystem/Balayeuse.java b/src/main/java/frc/robot/subsystem/Balayeuse.java index 79ed37f..6a10544 100644 --- a/src/main/java/frc/robot/subsystem/Balayeuse.java +++ b/src/main/java/frc/robot/subsystem/Balayeuse.java @@ -6,7 +6,6 @@ package frc.robot.subsystem; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; - import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java index 896d1e7..aa3bb04 100644 --- a/src/main/java/frc/robot/subsystem/Drive.java +++ b/src/main/java/frc/robot/subsystem/Drive.java @@ -6,12 +6,10 @@ package frc.robot.subsystem; import java.io.File; import java.io.IOException; - import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.util.HolonomicPathFollowerConfig; import com.pathplanner.lib.util.PIDConstants; import com.pathplanner.lib.util.ReplanningConfig; - import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.wpilibj.DriverStation; diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 6589c72..ee22c02 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -7,9 +7,6 @@ package frc.robot.subsystem; import com.kauailabs.navx.frc.AHRS; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; - -import edu.wpi.first.networktables.GenericEntry; -import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.Solenoid; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; diff --git a/src/main/java/frc/robot/subsystem/Guideur.java b/src/main/java/frc/robot/subsystem/Guideur.java index dd8db40..66f34e9 100644 --- a/src/main/java/frc/robot/subsystem/Guideur.java +++ b/src/main/java/frc/robot/subsystem/Guideur.java @@ -5,7 +5,6 @@ package frc.robot.subsystem; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; - import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index 7b1e61a..bb100d7 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -6,7 +6,6 @@ package frc.robot.subsystem; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; - import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; diff --git a/src/main/java/frc/robot/subsystem/Limelight.java b/src/main/java/frc/robot/subsystem/Limelight.java index 944b8c0..c4441bd 100644 --- a/src/main/java/frc/robot/subsystem/Limelight.java +++ b/src/main/java/frc/robot/subsystem/Limelight.java @@ -4,7 +4,6 @@ package frc.robot.subsystem; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.networktables.NetworkTableInstance;