sdesharnais/Rebuilt-2026
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mettre en 2026

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samuel desharnais
2026-03-26 17:45:25 -04:00
parent 69fe4a58d0
commit 0492c9a2c6
21 changed files with 798 additions and 121 deletions
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1
src/main/java/frc/robot/Robot.java
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@@ -8,7 +8,6 @@ import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.subsystems.Limelight3G;
public class Robot extends TimedRobot {
private Command m_autonomousCommand;

3
src/main/java/frc/robot/RobotContainer.java
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@@ -17,7 +17,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.commands.Aspirer;
import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
@@ -122,7 +121,7 @@ public class RobotContainer {
//manette 2
manette1.rightTrigger().whileTrue(new Aspirer(balayeuse));
manette1.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur, limeLight3G));
manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur));
manette1.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
manette1.x().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3G));
manette1.b().whileTrue(new ModeOposer(lanceur));

2
src/main/java/frc/robot/commands/Aspirer.java
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@@ -4,10 +4,8 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Led;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class Aspirer extends Command {

8
src/main/java/frc/robot/commands/Lancer.java
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@@ -7,9 +7,7 @@ package frc.robot.commands;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.Limelight3G;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
@@ -18,15 +16,12 @@ public class Lancer extends Command {
private PIDController pidController;
private Limelight3G limeLight3G;
private Timer timer;
private double temp;
/** Creates a new Lancer. */
public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
this.lanceur = lanceur;
this.timer = new Timer();
this.limeLight3G = new Limelight3G();
addRequirements(lanceur, limeLight3G);
this.temp = 0;
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -34,8 +29,7 @@ public class Lancer extends Command {
@Override
public void initialize() {
pidController = new PIDController(0.0007, 0,0, 0.001);
timer.reset();
temp = lanceur.Amp();
timer.reset();
}
// Called every time the scheduler runs while the command is scheduled.

2
src/main/java/frc/robot/commands/LancerAspirer.java
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@@ -7,8 +7,6 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.LimeLight3;
import frc.robot.subsystems.Limelight3G;

37
src/main/java/frc/robot/commands/LancerBaseVitesse.java
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@@ -5,25 +5,22 @@
package frc.robot.commands;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.LimeLight3;
import frc.robot.subsystems.Limelight3G;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class LancerBaseVitesse extends Command {
private Lanceur lanceur;
private PIDController pidController;
private Limelight3G limeLight3G;
private Timer timer;
private double temp;
double tempsDebut = 0;
/** Creates a new Lancer. */
public LancerBaseVitesse(Lanceur lanceur, Limelight3G limeLight3G) {
public LancerBaseVitesse(Lanceur lanceur) {
this.lanceur = lanceur;
this.timer = new Timer();
this.limeLight3G = new Limelight3G();
addRequirements(lanceur, limeLight3G);
addRequirements(lanceur);
//this.temp = 0;
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -34,38 +31,18 @@ public class LancerBaseVitesse extends Command {
pidController = new PIDController(0.0007, 0,0, 0.001);
timer.reset();
timer.start();
//temp = lanceur.Amp();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
// int nbFois = 0;
// double moyenneAmp = 0;
// if(timer.get() < 3){
// nbFois++;
// moyenneAmp += balayeuse.Amp() / nbFois;
// }
// else{
// nbFois++;
// moyenneAmp -= temp;
// moyenneAmp += balayeuse.Amp() / nbFois;
// temp = balayeuse.Amp();
// }
// if(moyenneAmp > 30 && nbFois > 10){
// timer.reset();
// balayeuse.Balayer(0.5);
// led.Jaune2();
// }
// else{
System.out.println(DriverStation.getMatchTime());
double vitesse = lanceur.vitesseDemander();
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
if(timer.get() >1){
if(timer.get() > 1){
lanceur.Demeler(1);
}
// }
}
}

15
src/main/java/frc/robot/commands/Limelighter.java
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@@ -7,7 +7,6 @@ package frc.robot.commands;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -16,7 +15,6 @@ import static edu.wpi.first.units.Units.*;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class Limelighter extends Command {
Timer timer;
Limelight3G limelight3g;
CommandSwerveDrivetrain drivetrain;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -34,20 +32,18 @@ public class Limelighter extends Command {
this.limelight3g = limelight3g;
this.drivetrain = drivetrain;
addRequirements(drivetrain, limelight3g);
timer = new Timer();
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
timer.reset();
}
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] BotPose = new double[6];
System.out.println("e");
if (limelight3g.getV()) {
BotPose = limelight3g.getBotPoseBlue();
botx = BotPose[1];
@@ -61,12 +57,6 @@ public class Limelighter extends Command {
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul);
if (calcul < 0.2 && calcul > -0.2) {
// timer.start();
// } else {
// timer.reset();
// }
// } else {
// timer.stop();
drivetrain.setControl(drive.withRotationalRate(0));
}
}
@@ -80,7 +70,6 @@ public class Limelighter extends Command {
@Override
public void end(boolean interrupted) {
drivetrain.setControl(drive.withRotationalRate(0));
timer.stop();
}
// Returns true when the command should end.

9
src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
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@@ -50,18 +50,12 @@ public class RetourMilieuDroite extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] BotPose = new double[6];
BotPose = limelight3g.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
if(alliance.get() == Alliance.Blue){
angle = 0;
}
else{
angle = 180;
}
if(pigeon2.getYaw().getValueAsDouble() <355 || pigeon2.getYaw().getValueAsDouble() > 5){
if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
drivetrain.setControl(drive.withRotationalRate(0.5));
}
@@ -69,9 +63,6 @@ public class RetourMilieuDroite extends Command {
drivetrain.setControl(drive.withRotationalRate(-0.5));
}
}
else{
}
}
// Called once the command ends or is interrupted.
@Override

1
src/main/java/frc/robot/commands/ModeOposerBalayeuse.java
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@@ -6,7 +6,6 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Lanceur;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class ModeOposerBalayeuse extends Command {
private Balayeuse balayeuse;

12
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -248,12 +248,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
@Override
public void periodic() {
if(pigeon2.getYaw().getValueAsDouble() > 360){
pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()-360);
}
else if(pigeon2.getYaw().getValueAsDouble() < 0){
pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()+360);
}
// if(getPigeon2().getYaw().getValueAsDouble() > 360){
// getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()-360);
// }
// else if(getPigeon2().getYaw().getValueAsDouble() < 0){
// getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
// }
/*
* Periodically try to apply the operator perspective.

75
src/main/java/frc/robot/subsystems/Led.java
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@@ -4,14 +4,11 @@
package frc.robot.subsystems;
import java.util.Optional;
import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.RainbowAnimation;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -21,67 +18,76 @@ public class Led extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private GenericEntry equipe =
teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
@SuppressWarnings("removal")
CANdle CANDle = new CANdle(17);
@SuppressWarnings("removal")
RainbowAnimation rainbowAnim = new RainbowAnimation();
@SuppressWarnings("removal")
public void bleu(){
CANDle.setLEDs(0, 0, 255,0,0,8);
CANDle.setLEDs(0, 0, 255,0,16,8);
CANDle.setLEDs(0, 0, 255,0,32,8);
CANDle.setLEDs(0, 0, 255,0,56,8);
CANDle.setLEDs(0, 0, 255,0,72,8);
CANDle.setLEDs(0, 0, 255,0,88,8);
CANDle.setLEDs(0, 0, 255,0,104,8);
CANDle.setLEDs(0, 0, 255,0,120,8);
CANDle.setLEDs(0, 0, 255,0,136,8);
// CANDle.setLEDs(0, 0, 255,0,56,8);
// CANDle.setLEDs(0, 0, 255,0,72,8);
// CANDle.setLEDs(0, 0, 255,0,88,8);
// CANDle.setLEDs(0, 0, 255,0,104,8);
// CANDle.setLEDs(0, 0, 255,0,120,8);
// CANDle.setLEDs(0, 0, 255,0,136,8);
}
@SuppressWarnings("removal")
public void Vert1(){
CANDle.setLEDs(0, 255, 0,0,0,8);
CANDle.setLEDs(0, 255, 0,0,16,8);
CANDle.setLEDs(0, 255, 0,0,32,8);
CANDle.setLEDs(0, 255, 0,0,56,8);
CANDle.setLEDs(0, 255, 0,0,72,8);
CANDle.setLEDs(0, 255, 0,0,88,8);
CANDle.setLEDs(0, 255, 0,0,104,8);
CANDle.setLEDs(0, 255, 0,0,120,8);
CANDle.setLEDs(0, 255, 0,0,136,8);
// CANDle.setLEDs(0, 255, 0,0,56,8);
// CANDle.setLEDs(0, 255, 0,0,72,8);
// CANDle.setLEDs(0, 255, 0,0,88,8);
// CANDle.setLEDs(0, 255, 0,0,104,8);
// CANDle.setLEDs(0, 255, 0,0,120,8);
// CANDle.setLEDs(0, 255, 0,0,136,8);
}
@SuppressWarnings("removal")
public void Rouge(){
CANDle.setLEDs(255, 0, 0,0,0,8);
CANDle.setLEDs(255, 0, 0,0,16,8);
CANDle.setLEDs(255, 0, 0,0,32,8);
CANDle.setLEDs(255, 0, 0,0,48,8);
CANDle.setLEDs(255, 0, 0,0,64,8);
CANDle.setLEDs(255, 0, 0,0,80,8);
CANDle.setLEDs(255, 0, 0,0,96,8);
CANDle.setLEDs(255, 0, 0,0,112,8);
CANDle.setLEDs(255, 0, 0,0,128,8);
// CANDle.setLEDs(255, 0, 0,0,48,8);
// CANDle.setLEDs(255, 0, 0,0,64,8);
// CANDle.setLEDs(255, 0, 0,0,80,8);
// CANDle.setLEDs(255, 0, 0,0,96,8);
// CANDle.setLEDs(255, 0, 0,0,112,8);
// CANDle.setLEDs(255, 0, 0,0,128,8);
}
@SuppressWarnings("removal")
public void Jaune2(){
CANDle.setLEDs(255, 255, 0,0,8,8);
CANDle.setLEDs(255, 255, 0,0,24,8);
CANDle.setLEDs(255, 255, 0,0,40,8);
CANDle.setLEDs(255, 255, 0,0,56,8);
CANDle.setLEDs(255, 255, 0,0,72,8);
CANDle.setLEDs(255, 255, 0,0,88,8);
CANDle.setLEDs(255, 255, 0,0,104,8);
CANDle.setLEDs(255, 255, 0,0,120,8);
CANDle.setLEDs(255, 255, 0,0,136,8);
// CANDle.setLEDs(255, 255, 0,0,56,8);
// CANDle.setLEDs(255, 255, 0,0,72,8);
// CANDle.setLEDs(255, 255, 0,0,88,8);
// CANDle.setLEDs(255, 255, 0,0,104,8);
// CANDle.setLEDs(255, 255, 0,0,120,8);
// CANDle.setLEDs(255, 255, 0,0,136,8);
}
@SuppressWarnings("removal")
public void Rouge2(){
CANDle.setLEDs(255, 0, 0,0,8,8);
CANDle.setLEDs(255, 0, 0,0,24,8);
CANDle.setLEDs(255, 0, 0,0,40,8);
CANDle.setLEDs(255, 0, 0,0,56,8);
CANDle.setLEDs(255, 0, 0,0,72,8);
CANDle.setLEDs(255, 0, 0,0,88,8);
CANDle.setLEDs(255, 0, 0,0,104,8);
CANDle.setLEDs(255, 0, 0,0,120,8);
CANDle.setLEDs(255, 0, 0,0,136,8);
// CANDle.setLEDs(255, 0, 0,0,56,8);
// CANDle.setLEDs(255, 0, 0,0,72,8);
// CANDle.setLEDs(255, 0, 0,0,88,8);
// CANDle.setLEDs(255, 0, 0,0,104,8);
// CANDle.setLEDs(255, 0, 0,0,120,8);
// CANDle.setLEDs(255, 0, 0,0,136,8);
}
@SuppressWarnings("removal")
public void RainBow(){
CANDle.animate(rainbowAnim);
}
@SuppressWarnings("removal")
public void RainBowStop(){
CANDle.animate(null);
}
@@ -93,6 +99,7 @@ public class Led extends SubsystemBase {
@Override
public void periodic() {
double temps = DriverStation.getMatchTime();
if(temps > 20 && temps < 30){
Vert1();
@@ -132,5 +139,7 @@ public class Led extends SubsystemBase {
}
}
// This method will be called once per scheduler run
}
}