Swerve + Constant

src/main/deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

src/main/deploy/swerve/modules/backleft.json

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset": 80.332,
+  "drive": {
+    "type": "sparkmax",
+    "id": 8,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 9,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 7,
+    "canbus": null
+  }
+}

src/main/deploy/swerve/modules/backright.json

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 28.74,
+  "drive": {
+    "type": "sparkmax",
+    "id": 11,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 12,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 6,
+    "canbus": null
+  }
+}

src/main/deploy/swerve/modules/frontleft.json

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset": 98.438,
+  "drive": {
+    "type": "sparkmax",
+    "id": 2,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 3,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 4,
+    "canbus": null
+  }
+}

src/main/deploy/swerve/modules/frontright.json

@@ -0,0 +1,30 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 17.227,
+  "drive": {
+    "type": "sparkmax",
+    "id": 17,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 18,
+    "canbus": null
+  },
+  "inverted": {
+    "angle": true,
+    "drive": false
+  },
+  "conversionFactor": {
+    "angle": 0,
+    "drive": 0
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 5,
+    "canbus": null
+  }
+}

src/main/deploy/swerve/modules/physicalproperties.json

@@ -0,0 +1,16 @@
+{
+  "optimalVoltage": 12,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactor": {
+    "angle": 16.8,
+    "drive": 0.04
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  }
+}

src/main/deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}

src/main/deploy/swerve/swervedrive.json

@@ -0,0 +1,14 @@
+{
+  "imu": {
+    "type": "pigeon",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}

src/main/java/frc/robot/Constants.java

@@ -6,17 +6,41 @@ package frc.robot;
 
 /** Add your docs here. */
 public class Constants {
-    //moteur
+    // Lanceur
-    public static int lanceur = 1;
+    public static int lanceur = 10;
-    public static int lancer2 = 2;
+    public static int lancer2 = 13;
-    public static int roue = 3;
+    public static int lancer3 = 14;
-    public static int etoile = 4;
+    public static int lancer4 = 15;
-    public static int Moteuracc2 = 5;
+    // Ballayeuse
-    public static int Moteuracc = 6;
+    public static int roue = 16;
-    public static int guideur = 7;
+    public static int etoile = 19;
-    // limit switsh
+
-    public static int guideurhaut = 8;
+    // Accumulateur
-    public static int guideurbas = 9;
+    public static int Moteuracc2 = 20;
-    public static int limitacc = 58;
+    public static int Moteuracc = 21;
+
+    // Guideur
+    public static int guideur = 22;
+
+    // Swerve
+    public static int AvantDroitDrive = 17;
+    public static int AvantDroitAngle = 18;
+    public static int AvantGaucheDrive = 2;
+    public static int AvantGaucheAngle = 3;
+    public static int ArriereDroitDrive = 11;
+    public static int ArriereDroitAngle = 12;
+    public static int ArriereGaucheDrive = 8;
+    public static int ArriereGaucheAngle = 9;
+
+    // CanCoder
+    public static int AvantDroit = 5;
+    public static int AvantGauche = 4;
+    public static int ArriereDroit = 6;
+    public static int ArriereGauche = 7;
+
+    // Limit switsh
+    public static int guideurhaut = 23;
+    public static int guideurbas = 24;
+    public static int limitacc = 25;
   
 }

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

@@ -4,11 +4,40 @@
 
 package frc.robot.subsystem;
 
+import java.io.File;
+import java.io.IOException;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import swervelib.SwerveDrive;
+import swervelib.parser.SwerveParser;
 
 public class Drive extends SubsystemBase {
   /** Creates a new Drive. */
-  public Drive() {}
+  
+   SwerveDrive swerveDrive;
+  File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);
+  }
+  
+  public Drive() {
+
+     try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
+
+  public SwerveModulePosition[] distance(){
+    return swerveDrive.getModulePositions();
+  }
+public void reset(){
+
+}
 
   @Override
   public void periodic() {