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base: PLS5618:eee5384f53aab7655ea4b54eb0ae88fa21284481
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PLS5618:main
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compare: PLS5618:cbb95f40bd8a32cc2d852b7c11c2bc5c9eb2e51c
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PLS5618:main

10 Commits
eee5384f53 ... cbb95f40bd

Author SHA1 Message Date
Antoine PerreaultE
cbb95f40bd Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot 2024-04-24 18:33:19 -04:00
Antoine PerreaultE
c390e47e5b 2024-04-24 18:33:15 -04:00
samuel desharnais
41e0e47322 2024-04-24 17:54:10 -04:00
samuel desharnais
f9d9e4fe34 2024-04-24 17:39:41 -04:00
samuel desharnais
bb4bee0d96 2024-04-24 17:38:05 -04:00
samuel desharnais
e24e36486b 2024-04-24 17:23:49 -04:00
Antoine PerreaultE
752b8f440d Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot 2024-04-10 19:44:42 -04:00
Antoine PerreaultE
b5ab5fa4bf PP 2024-04-10 19:44:40 -04:00
samuel desharnais
a87c10beb5 2024-04-10 19:42:12 -04:00
Antoine PerreaultE
c63f23a302 2024-04-10 19:24:37 -04:00
10 changed files with 45 additions and 468 deletions
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108
src/main/deploy/pathplanner/autos/10 avril.auto
View File

@ -1,108 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.25
}
},
{
"type": "path",
"data": {
"pathName": "10 avril reculer"
}
},
{
"type": "named",
"data": {
"name": "balayer"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "10 avril avancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.2
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
}
]
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

82
src/main/deploy/pathplanner/autos/3 avril.auto
View File

@ -1,82 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.27,
"y": 5.566417514601411
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balayer"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "path",
"data": {
"pathName": "3 avril1"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "path",
"data": {
"pathName": "3 avril2"
}
}
]
}
}
]
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

58
src/main/deploy/pathplanner/paths/10 avril avancer.path
View File

@ -1,58 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 3.2,
"y": 5.55
},
"prevControl": null,
"nextControl": {
"x": 5.2,
"y": 5.55
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.35,
"y": 5.55
},
"prevControl": {
"x": 0.3500000000000001,
"y": 5.55
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.5,
"rotationDegrees": 0,
"rotateFast": true
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.75,
"maxAcceleration": 0.75,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
}

58
src/main/deploy/pathplanner/paths/10 avril reculer.path
View File

@ -1,58 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.3479282065452507,
"y": 5.547612425391122
},
"prevControl": null,
"nextControl": {
"x": 2.3479282065452507,
"y": 5.547612425391122
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.20038226774791,
"y": 5.547612425391122
},
"prevControl": {
"x": 2.20038226774791,
"y": 5.547612425391122
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.8,
"rotationDegrees": 0,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.25,
"maxAcceleration": 0.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
}

52
src/main/deploy/pathplanner/paths/3 avril1.path
View File

@ -1,52 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.27,
"y": 5.566417514601411
},
"prevControl": null,
"nextControl": {
"x": 1.2933883088848783,
"y": 5.566417514601411
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.27,
"y": 5.566417514601411
},
"prevControl": {
"x": 3.25830584555756,
"y": 5.566417514601411
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0.0,
"rotation": 0.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
}

52
src/main/deploy/pathplanner/paths/3 avril2.path
View File

@ -1,52 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 3.265158439148787,
"y": 5.57
},
"prevControl": null,
"nextControl": {
"x": 3.3004233428739336,
"y": 5.57
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.1,
"y": 5.57
},
"prevControl": {
"x": 1.090703297854801,
"y": 5.57
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -0.3989133239630231,
"velocity": 0
},
"useDefaultConstraints": false
}

52
src/main/deploy/pathplanner/paths/Test pigeon.path
View File

@ -1,52 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.2654580294915574,
"y": 2.9352327650524255
},
"prevControl": null,
"nextControl": {
"x": 2.2654580294915574,
"y": 2.9352327650524255
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.276852593591227,
"y": 2.9352327650524255
},
"prevControl": {
"x": 2.276852593591227,
"y": 2.9352327650524255
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.0,
"maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
}

9
src/main/java/frc/robot/RobotContainer.java
View File

@ -14,10 +14,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Manettes
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.command.AvancerAuto;
// Commands
import frc.robot.command.Balayer;
import frc.robot.command.GrimpeurDroit;
@ -68,7 +69,7 @@ public class RobotContainer {
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY);
GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY);
Debalayer debalayer = new Debalayer(balayeuse, accumulateur);
AvancerAuto avancerAuto = new AvancerAuto(drive);
public RobotContainer() {
dashboard.addCamera("limelight", "limelight","limelight.local:5800")
@ -89,7 +90,7 @@ public class RobotContainer {
manette.start().whileTrue(new RestGyro(drive));
manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur));
manette.x().whileTrue(avancerAuto);
//joystick
joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
manette1.rightBumper().whileTrue(new LancerNote(lanceur, accumulateur));
@ -115,6 +116,6 @@ public class RobotContainer {
private void configureBindings() {}
public Command getAutonomousCommand(){
return autoChooser.getSelected();
return autoChooser.getSelected(); //new SequentialCommandGroup(lancer.withTimeout(2));
}
}

40
src/main/java/frc/robot/command/AvancerAuto.java Normal file
View File

@ -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;
public class AvancerAuto extends Command {
private Drive drive;
/** Creates a new AvancerAuto. */
public AvancerAuto(Drive drive) {
this.drive = drive;
addRequirements(drive);
// 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() {
drive.drive(0.5, 0, 0);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drive.drive(0, 0, 0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

2
src/main/java/frc/robot/subsystem/Drive.java
View File

@ -58,9 +58,7 @@ public class Drive extends SubsystemBase {
public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions();
}
public void reset(){
}
@Override
public void periodic() {