simgui.json

@@ -25,39 +25,9 @@
         "header": {
           "open": true
         }
-      },
-      "SPARK MAX [3]": {
-        "header": {
-          "open": true
-        }
-      },
-      "Talon SRX[16]": {
-        "header": {
-          "open": true
-        }
-      },
-      "Talon SRX[19]": {
-        "header": {
-          "open": true
-        }
-      },
-      "Talon SRX[20]": {
-        "header": {
-          "open": true
-        }
-      },
-      "Talon SRX[21]": {
-        "header": {
-          "open": true
-        }
       }
     },
     "Solenoids": {
-      "0": {
-        "header": {
-          "open": true
-        }
-      },
       "window": {
         "visible": true
       }
@@ -104,6 +74,9 @@
       }
     }
   },
+  "NetworkTables Info": {
+    "visible": true
+  },
   "NetworkTables View": {
     "visible": false
   },

src/main/deploy/pathplanner/autos/9.auto

@@ -0,0 +1,94 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3,
+      "y": 5.55
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.1"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.2"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "9"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/9.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.3,
+        "y": 5.55
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.270750725349431,
+        "y": 5.55
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.782768629670277,
+        "y": 7.468314794111773
+      },
+      "prevControl": {
+        "x": 7.812017904320845,
+        "y": 7.468314794111773
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.0,
+    "maxAcceleration": 5.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -179.76648041708185,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}

src/main/java/frc/robot/RobotContainer.java

@@ -83,7 +83,7 @@ public class RobotContainer {
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
     joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
     joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));
-   
+    
     // deplacement
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{

src/main/java/frc/robot/command/GrimpeurGauche.java

@@ -36,7 +36,6 @@ public class GrimpeurGauche extends Command {
     }
     else if(grimpeur.getpitch()<-15){
       grimpeur.gauche(doubleSupplier.getAsDouble());
-      
     }
     else if(grimpeur.getpitch()>15){
       grimpeur.gauche(-doubleSupplier.getAsDouble());

src/main/java/frc/robot/command/LancerNote.java

@@ -31,11 +31,17 @@ public class LancerNote extends Command {
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler(0.6);
     }
+    else{
+      accumulateur.Accumuler(0);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lancer.vitesse(0);
+    accumulateur.Accumuler(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -38,7 +38,7 @@ public class Drive extends SubsystemBase {
       e.printStackTrace();
     }
     AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
-      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 4.5,
+      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 15,
       0.275,
       new ReplanningConfig()
       ), ()->{