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Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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This commit is contained in:
Antoine PerreaultE 2024-02-06 19:57:52 -05:00
commit f6f1d52fb1
56 changed files with 2117 additions and 162 deletions
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13
.gitlab-ci.yml Normal file
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@ -0,0 +1,13 @@
default:
image: gradle:jdk17
tags:
- robot
stages: # List of stages for jobs, and their order of execution
- build
build-job: # This job runs in the build stage, which runs first.
stage: build
script:
- chmod +x gradlew
- ./gradlew build

3
.vscode/settings.json vendored
View File

@ -25,5 +25,6 @@
}
},
],
"java.test.defaultConfig": "WPIlibUnitTests"
"java.test.defaultConfig": "WPIlibUnitTests",
"java.debug.settings.onBuildFailureProceed": true
}

1
networktables.json Normal file
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@ -0,0 +1 @@
[]

92
simgui-ds.json Normal file
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@ -0,0 +1,92 @@
{
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
]
}

12
simgui.json Normal file
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@ -0,0 +1,12 @@
{
"NTProvider": {
"types": {
"/FMSInfo": "FMSInfo",
"/SmartDashboard/Field": "Field2d",
"/SmartDashboard/Pigeon IMU [0]": "Gyro"
}
},
"NetworkTables Info": {
"visible": true
}
}

17
src/main/deploy/pathplanner/autos/1.1.auto
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@ -12,9 +12,22 @@
"data": {
"commands": [
{
"type": "path",
"type": "deadline",
"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": {
"commands": [
{
"type": "path",
"type": "deadline",
"data": {
"pathName": "1.1"
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"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
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@ -12,9 +12,22 @@
"data": {
"commands": [
{
"type": "path",
"type": "deadline",
"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
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@ -12,15 +12,28 @@
"data": {
"commands": [
{
"type": "path",
"type": "deadline",
"data": {
"pathName": "2.1"
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"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
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@ -12,9 +12,22 @@
"data": {
"commands": [
{
"type": "path",
"type": "deadline",
"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": {
"commands": [
{
"type": "path",
"type": "deadline",
"data": {
"pathName": "3.1"
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.2"
"pathName": "3.1"
}
}
]

63
src/main/deploy/pathplanner/autos/3.3.auto Normal file
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@ -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
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@ -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
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@ -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
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@ -12,9 +12,22 @@
"data": {
"commands": [
{
"type": "path",
"type": "deadline",
"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": {
"commands": [
{
"type": "path",
"type": "deadline",
"data": {
"pathName": "4.1"
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "4.2"
"pathName": "4.1"
}
}
]

63
src/main/deploy/pathplanner/autos/4.3.auto Normal file
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@ -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
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@ -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
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@ -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
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@ -12,9 +12,29 @@
"data": {
"commands": [
{
"type": "path",
"type": "deadline",
"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
View File

@ -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
View File

@ -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
View File

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

20
src/main/java/frc/robot/Constants.java
View File

@ -43,16 +43,16 @@ public class Constants {
public static int ArriereGauche = 7;
// Limit switch
public static int guideurhaut = 23;
public static int guideurbas = 24;
public static int limitacc = 25;
public static int limitacc2 = 76;
public static int limithaut = 28;
public static int limitbas = 29;
public static int guideurhaut = 0;
public static int guideurbas = 1;
public static int limitacc = 2;
public static int limitacc2 = 3;
public static int limithaut = 4;
public static int limitbas = 5;
//piston
public static int pistondroiteouvre= 30;
public static int pistondroiteferme= 31;
public static int pistondgaucheouvre= 32;
public static int pistondgauchferme= 32;
public static int pistondroiteouvre= 0;
public static int pistondroiteferme= 1;
public static int pistondgaucheouvre= 2;
public static int pistondgauchferme= 3;
}

8
src/main/java/frc/robot/PixyException.java Normal file
View File

@ -0,0 +1,8 @@
package frc.robot;
public class PixyException extends Exception {
public PixyException(String message){
super(message);
}
}

9
src/main/java/frc/robot/PixyPacket.java Normal file
View File

@ -0,0 +1,9 @@
package frc.robot;
public class PixyPacket {
public int X;
public int Y;
public int Width;
public int Height;
}

60
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,54 +4,88 @@
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.math.MathUtil;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Manette
// Manettes
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
// Subsystem
import frc.robot.command.AllumeLED;
// Commands
import frc.robot.command.Balayer;
import frc.robot.command.GrimpeurDroit;
import frc.robot.command.GrimpeurGauche;
import frc.robot.command.GuiderBas;
import frc.robot.command.GuiderHaut;
import frc.robot.command.Lancer;
import frc.robot.command.LancerNote;
import frc.robot.command.Lancerampli;
// Subsystems
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse;
import frc.robot.subsystem.Drive;
import frc.robot.subsystem.Grimpeur;
import frc.robot.subsystem.Guideur;
import frc.robot.subsystem.LED;
import frc.robot.subsystem.Lanceur;
import frc.robot.subsystem.Pixy;
public class RobotContainer {
private final SendableChooser<Command> autoChooser;
Drive drive = new Drive();
Accumulateur accumulateur = new Accumulateur();
Balayeuse balayeuse = new Balayeuse();
Grimpeur grimpeur = new Grimpeur();
Guideur guideur = new Guideur();
Lanceur lanceur = new Lanceur();
Balayer balayer = new Balayer(balayeuse, accumulateur);
GuiderHaut guiderHaut = new GuiderHaut(guideur);
GuiderBas guiderBas = new GuiderBas(guideur);
Lancer lancer = new Lancer(lanceur);
LancerNote lancernote = new LancerNote(lanceur, accumulateur);
Lancerampli lancerampli = new Lancerampli(lanceur);
CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1);
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
LED LED = new LED();
AllumeLED allumeLED = new AllumeLED(LED);
Pixy pixy = new Pixy();
public RobotContainer() {
NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
manette.a().whileTrue(guiderBas);
manette.b().whileTrue(guiderHaut);
joystick.button(3).toggleOnTrue(balayer);
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));
grimpeur.setDefaultCommand(new RunCommand(()->{
grimpeur.droit(manette.getLeftX());}
,grimpeur));
LED.setDefaultCommand(allumeLED);
}
private void configureBindings() {
}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
public Command getAutonomousCommand(){
return autoChooser.getSelected();
}
}

39
src/main/java/frc/robot/command/GrimpeurBas.java → src/main/java/frc/robot/command/AllumeLED.java
View File

@ -5,42 +5,39 @@
package frc.robot.command;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Grimpeur;
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.LED;
public class GrimpeurBas extends Command {
private Grimpeur grimpeur;
/** Creates a new GrimpeurBas. */
public GrimpeurBas(Grimpeur grimpeur) {
this.grimpeur = grimpeur;
addRequirements(grimpeur);
public class AllumeLED extends Command {
private LED led;
private Accumulateur accumulateur;
/** Creates a new AllumeLED. */
public AllumeLED(LED led) {
this.accumulateur = accumulateur;
this.led = led;
addRequirements(led);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
grimpeur.resetencodeurd();
grimpeur.resetencodeurg();
}
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(grimpeur.droite()){
grimpeur.resetencodeurd();
grimpeur.gauche(0);
}
if(grimpeur.gauche()){
grimpeur.resetencodeurg();
grimpeur.gauche(0);
}
if(accumulateur.limitswitch()){
led.couleur(0, 255, 0);
}
else{
led.couleur(255, 0, 0);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.droit(0);
grimpeur.gauche(0);
led.couleur(255, 0, 0);
}
// Returns true when the command should end.

5
src/main/java/frc/robot/command/Balayer.java
View File

@ -14,6 +14,7 @@ public class Balayer extends Command {
/** Creates a new Balayer. */
public Balayer(Balayeuse balayeuse, Accumulateur accumulateur) {
this.balayeuse = balayeuse;
this.accumulateur = accumulateur;
addRequirements(balayeuse, accumulateur);}
// Use addRequirements() here to declare subsystem dependencies.
// Called when the command is initially scheduled.
@ -25,11 +26,11 @@ public class Balayer extends Command {
public void execute() {
if(accumulateur.limitswitch()){
balayeuse.balaye(0);
accumulateur.Accumuler(0);
accumulateur.Accumuler();
}
else{
balayeuse.balaye(0.6);
accumulateur.Accumuler(0.6);
accumulateur.Accumuler();
}
}

24
src/main/java/frc/robot/command/GrimpeurHautDroit.java → src/main/java/frc/robot/command/GrimpeurDroit.java
View File

@ -4,13 +4,17 @@
package frc.robot.command;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Grimpeur;
public class GrimpeurHautDroit extends Command {
public class GrimpeurDroit extends Command {
private DoubleSupplier doubleSupplier;
private Grimpeur grimpeur;
/** Creates a new GrimpeurHaut. */
public GrimpeurHautDroit(Grimpeur grimpeur) {
public GrimpeurDroit(Grimpeur grimpeur, DoubleSupplier doubleSupplier) {
this.doubleSupplier = doubleSupplier;
this.grimpeur = grimpeur;
addRequirements(grimpeur);
// Use addRequirements() here to declare subsystem dependencies.
@ -20,26 +24,32 @@ public class GrimpeurHautDroit extends Command {
@Override
public void initialize() {
grimpeur.resetencodeurd();
grimpeur.resetencodeurg();
grimpeur.pistonferme();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(grimpeur.encoderd()>261 ){
grimpeur.droit(doubleSupplier.getAsDouble());
if(grimpeur.encoderd()>261){
grimpeur.droit(0);
}
else if(grimpeur.getpitch()<-15){
grimpeur.droit(-0.6);
grimpeur.droit(-doubleSupplier.getAsDouble());
}
else if(grimpeur.getpitch()>15){
grimpeur.droit(0.6);
grimpeur.droit(doubleSupplier.getAsDouble());
}
else{
grimpeur.droit(0);
}
if(grimpeur.encoderd()>0){
grimpeur.resetencodeurd();
grimpeur.droit(0);
}
}
// Called once the command ends or is interrupted.

20
src/main/java/frc/robot/command/GrimpeurHautGauche.java → src/main/java/frc/robot/command/GrimpeurGauche.java
View File

@ -4,13 +4,17 @@
package frc.robot.command;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Grimpeur;
public class GrimpeurHautGauche extends Command {
public class GrimpeurGauche extends Command {
private DoubleSupplier doubleSupplier;
private Grimpeur grimpeur;
/** Creates a new GrimpeurHautGauche. */
public GrimpeurHautGauche(Grimpeur grimpeur) {
public GrimpeurGauche(Grimpeur grimpeur,DoubleSupplier doubleSupplier) {
this.doubleSupplier = doubleSupplier;
this.grimpeur = grimpeur;
addRequirements(grimpeur);
// Use addRequirements() here to declare subsystem dependencies.
@ -26,19 +30,25 @@ public class GrimpeurHautGauche extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(grimpeur.encoderg()>261 ){
grimpeur.gauche(doubleSupplier.getAsDouble());
if(grimpeur.encoderg()>261){
grimpeur.gauche(0);
}
else if(grimpeur.getpitch()<-15){
grimpeur.gauche(0.6);
grimpeur.gauche(doubleSupplier.getAsDouble());
}
else if(grimpeur.getpitch()>15){
grimpeur.gauche(-0.6);
grimpeur.gauche(-doubleSupplier.getAsDouble());
}
else{
grimpeur.gauche(0);
}
if(grimpeur.encoderd()>0){
grimpeur.resetencodeurg();
grimpeur.gauche(0);
}
}
// Called once the command ends or is interrupted.

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

@ -10,7 +10,7 @@ import frc.robot.subsystem.Guideur;
public class GuiderHaut extends Command {
private Guideur guideur;
/** Creates a new GuiderHaut. */
public GuiderHaut() {
public GuiderHaut(Guideur guideur) {
this.guideur = guideur;
addRequirements(guideur);
// Use addRequirements() here to declare subsystem dependencies.

19
src/main/java/frc/robot/command/Lancer.java
View File

@ -4,22 +4,19 @@
package frc.robot.command;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Lanceur;
public class Lancer extends Command {
/** Creates a new Lanceur. */
private Lanceur lancer;
private Lanceur lancer2;
private Lanceur lancer3;
private Lanceur lancer4;
public Lancer() {
private Lanceur lanceur;
public Lancer(Lanceur lanceur) {
this.lanceur = lanceur;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(lancer,lancer2,lancer3,lancer4);
addRequirements(lanceur);
}
// Called when the command is initially scheduled.
@ -29,13 +26,13 @@ public class Lancer extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
lancer.lancer(0.3);
lanceur.lancerspeaker();
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lancer.lancer(0);
lanceur.lancer(0);
}
// Returns true when the command should end.

44
src/main/java/frc/robot/command/LancerNote.java Normal file
View File

@ -0,0 +1,44 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.command;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Lanceur;
public class LancerNote extends Command {
private Lanceur lancer;
private Accumulateur accumulateur;
/** Creates a new LancerNote. */
public LancerNote(Lanceur lancer, Accumulateur accumulateur) {
this.lancer = lancer;
this.accumulateur = accumulateur;
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double vitesse = 100;
lancer.lancerspeaker();
if(lancer.vitesse(vitesse)>vitesse){
accumulateur.Accumuler(0.6);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

45
src/main/java/frc/robot/command/Lancerampli.java Normal file
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@ -0,0 +1,45 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.command;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Lanceur;
public class Lancerampli extends Command {
/** Creates a new Lanceur. */
private Lanceur lanceur;
public Lancerampli(Lanceur lanceur) {
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(lanceur);
this.lanceur = lanceur;
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
lanceur.lanceramp();
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lanceur.lancer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

40
src/main/java/frc/robot/command/RobotPixy.java Normal file
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@ -0,0 +1,40 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.command;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Drive;
import frc.robot.subsystem.Pixy;
public class RobotPixy extends Command {
private Pixy pixy;
private Drive drive;
/** Creates a new RobotPixy. */
public RobotPixy(Pixy pixy,Drive drive) {
this.drive = drive;
this.pixy = pixy;
addRequirements(drive,pixy);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

13
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -6,17 +6,22 @@ package frc.robot.subsystem;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
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.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. */
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private GenericEntry vitesse =
dashboard.add("vitesseacc", 1)
.getEntry();
final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
@ -32,12 +37,16 @@ public class Accumulateur extends SubsystemBase {
return limitacc.get();
}
public Accumulateur() {
dashboard.addBoolean("limitacc", this::limitswitch);
}
public void Accumuler(double vitesse){
Moteuracc.set(vitesse);
Moteuracc2.set(vitesse);
}
public void Accumuler(){
Accumuler(vitesse.getDouble(0.1));
}
@Override
public void periodic() {

2
src/main/java/frc/robot/subsystem/Balayeuse.java
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@ -4,7 +4,7 @@
package frc.robot.subsystem;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

19
src/main/java/frc/robot/subsystem/Drive.java
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@ -6,8 +6,15 @@ 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;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import swervelib.SwerveDrive;
@ -25,7 +32,17 @@ public class Drive extends SubsystemBase {
}
public Drive() {
AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
new PIDConstants(5,0,0), new PIDConstants(5,0,0), 4.5,
0.275,
new ReplanningConfig()
), ()->{
var alliance = DriverStation.getAlliance();
if(alliance.isPresent()){
return alliance.get() == DriverStation.Alliance.Red;
}
return false;
}, this);
try {
this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
} catch (IOException e) {

2
src/main/java/frc/robot/subsystem/Guideur.java
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@ -16,7 +16,7 @@ public class Guideur extends SubsystemBase {
final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
final DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
public void guider(double vitesse){
guideur.set(vitesse);

27
src/main/java/frc/robot/subsystem/LED.java Normal file
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@ -0,0 +1,27 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystem;
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class LED extends SubsystemBase {
/** Creates a new LED. */
public LED() {}
AddressableLED led = new AddressableLED(9);
AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(60);
public void led(){
led.setData(ledBuffer);
led.start();
}
public void couleur(int R, int G, int B){
ledBuffer.setRGB(0, R, G, B);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

50
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -7,29 +7,49 @@ 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;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */
public Lanceur() {}
final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private GenericEntry vitesse =
dashboard.add("vitesse", 1)
.getEntry();
private GenericEntry vitesseamp =
dashboard.add("vitesseamp", 1)
.getEntry();
public Lanceur() {
}
final CANSparkMax lanceur1 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
public void pid(){
lanceur1.getPIDController();
}
public void lancer(double vitesse){
lancer.set(vitesse);
lanceur1.set(vitesse);
}
public void lancerspeaker(){
lancer(vitesse.getDouble(0.1));
}
public void lanceramp(){
lancer(vitesseamp.getDouble(0.5));
}
public double vitesse(double vitesse){
return lanceur1.getEncoder().getVelocity();
}
public void lanceur(){
lancer2.follow(lancer);
lancer3.follow(lancer);
lancer4.follow(lancer);
lancer3.setInverted(true);
lancer4.setInverted(true);
lanceur2.follow(lanceur1);
lanceur3.follow(lanceur1);
lanceur4.follow(lanceur1);
lanceur3.setInverted(true);
lanceur4.setInverted(true);
}
@Override

83
src/main/java/frc/robot/subsystem/Pixy.java
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@ -1,18 +1,75 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.PixyException;
import frc.robot.PixyPacket;
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.SerialPort.Port;
//Warning: if the pixy is plugged in through mini usb, this code WILL NOT WORK b/c the pixy is smart and detects where it should send data
public class Pixy extends SubsystemBase {
/** Creates a new Pixy. */
public Pixy() {}
SerialPort pixy;
Port port = Port.kMXP;
PixyPacket[] packets;
PixyException pExc;
String print;
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}
public Pixy() {
pixy = new SerialPort(19200, port);
pixy.setReadBufferSize(14);
packets = new PixyPacket[7];
pExc = new PixyException(print);
}
//This method parses raw data from the pixy into readable integers
public int cvt(byte upper, byte lower) {
return (((int)upper & 0xff) << 8) | ((int)lower & 0xff);
}
public void pixyReset(){
pixy.reset();
}
//This method gathers data, then parses that data, and assigns the ints to global variables
public PixyPacket readPacket(int Signature) throws PixyException {
int Checksum;
int Sig;
byte[] rawData = new byte[32];
try{
rawData = pixy.read(32);
} catch (RuntimeException e){
}
if(rawData.length < 32){
return null;
}
for (int i = 0; i <= 16; i++) {
int syncWord = cvt(rawData[i+1], rawData[i+0]); //Parse first 2 bytes
if (syncWord == 0xaa55) { //Check is first 2 bytes equal a "sync word", which indicates the start of a packet of valid data
syncWord = cvt(rawData[i+3], rawData[i+2]); //Parse the next 2 bytes
if (syncWord != 0xaa55){ //Shifts everything in the case that one syncword is sent
i -= 2;
}
//This next block parses the rest of the data
Checksum = cvt(rawData[i+5], rawData[i+4]);
Sig = cvt(rawData[i+7], rawData[i+6]);
if(Sig <= 0 || Sig > packets.length){
break;
}
packets[Sig - 1] = new PixyPacket();
packets[Sig - 1].X = cvt(rawData[i+9], rawData[i+8]);
packets[Sig - 1].Y = cvt(rawData[i+11], rawData[i+10]);
packets[Sig - 1].Width = cvt(rawData[i+13], rawData[i+12]);
packets[Sig - 1].Height = cvt(rawData[i+15], rawData[i+14]);
//Checks whether the data is valid using the checksum *This if block should never be entered*
if (Checksum != Sig + packets[Sig - 1].X + packets[Sig - 1].Y + packets[Sig - 1].Width + packets[Sig - 1].Height) {
packets[Sig - 1] = null;
throw pExc;
}
break;
}
}
//Assigns our packet to a temp packet, then deletes data so that we dont return old data
PixyPacket pkt = packets[Signature - 1];
packets[Signature - 1] = null;
return pkt;
}
}