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This commit is contained in:
samuel desharnais
2026-04-07 19:53:00 -04:00
parent 6c86b2ed5c
commit 2263961829
7 changed files with 98 additions and 103 deletions
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37
src/main/deploy/pathplanner/autos/TirSimple.auto
View File

@@ -1,37 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "TirerSimple"
}
},
{
"type": "named",
"data": {
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": "Lancer"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

49
src/main/deploy/pathplanner/autos/DepotTirerReservoir.auto → src/main/deploy/pathplanner/autos/Tirgrimpe.auto
View File

@@ -4,49 +4,18 @@
"type": "sequential", "type": "sequential",
"data": { "data": {
"commands": [ "commands": [
{
"type": "path",
"data": {
"pathName": "tirgrimpe1"
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "DescendreBalayeuse" "name": "DescendreBalayeuse"
} }
}, },
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "path",
"data": {
"pathName": "Depot"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "Tir"
}
},
{
"type": "named",
"data": {
"name": "Limelighter"
}
},
{ {
"type": "deadline", "type": "deadline",
"data": { "data": {
@@ -66,12 +35,6 @@
] ]
} }
}, },
{
"type": "path",
"data": {
"pathName": "GrimperReservoir"
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {

54
src/main/deploy/pathplanner/paths/tirgrimpe1.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.5991440798858774,
"y": 2.3465049928673327
},
"prevControl": null,
"nextControl": {
"x": 2.589928673323822,
"y": 1.7513266761768898
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.8783024251069897,
"y": 2.3465049928673327
},
"prevControl": {
"x": 2.706376604850214,
"y": 1.7125106990014274
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 33.11134196037204
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}

9
src/main/java/frc/robot/commands/DescendreGrimpeur.java
View File

@@ -24,18 +24,21 @@ public class DescendreGrimpeur extends Command {
@Override @Override
public void execute() { public void execute() {
if(!grimpeur.Limit()){ if(!grimpeur.Limit()){
grimpeur.Grimper(-0.4); grimpeur.GrimperGauche(-0.4);
grimpeur.GrimperDroit(-0.4);
} }
else{ else{
grimpeur.Reset(); grimpeur.Reset();
grimpeur.Grimper(0); grimpeur.GrimperGauche(0);
grimpeur.GrimperDroit(0);
} }
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
grimpeur.Grimper(0); grimpeur.GrimperGauche(0);
grimpeur.GrimperDroit(0);
} }
// Returns true when the command should end. // Returns true when the command should end.

9
src/main/java/frc/robot/commands/MonterGrimpeur.java
View File

@@ -25,18 +25,21 @@ public class MonterGrimpeur extends Command {
public void execute() { public void execute() {
if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){ if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
grimpeur.Grimper(0.5); grimpeur.GrimperGauche(0.5);
grimpeur.GrimperDroit(0.5);
System.out.println("monte"); System.out.println("monte");
} }
else { else {
grimpeur.Grimper(0); grimpeur.GrimperGauche(0);
grimpeur.GrimperDroit(0);
} }
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
grimpeur.Grimper(0); grimpeur.GrimperGauche(0);
grimpeur.GrimperDroit(0);
} }
// Returns true when the command should end. // Returns true when the command should end.

6
src/main/java/frc/robot/subsystems/Grimpeur.java
View File

@@ -22,9 +22,11 @@ public class Grimpeur extends SubsystemBase {
DigitalInput limit = new DigitalInput(0); DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurGrimpeur = private GenericEntry EncodeurGrimpeur =
teb.add("Position haut grimpeur", 100).getEntry(); teb.add("Position haut grimpeur", 100).getEntry();
public void Grimper(double vitesse){ public void GrimperDroit(double vitesse){
grimpeur1.set(vitesse);
grimpeur2.set(vitesse); grimpeur2.set(vitesse);
}
public void GrimperGauche(double vitesse){
grimpeur1.set(vitesse);
} }
public double Position(){ public double Position(){
return grimpeur1.getEncoder().getPosition(); return grimpeur1.getEncoder().getPosition();

37
src/main/java/frc/robot/subsystems/LEDSubsystem.java
View File

@@ -20,6 +20,7 @@ import com.ctre.phoenix6.signals.RGBWColor;
*/ */
public class LEDSubsystem extends SubsystemBase { public class LEDSubsystem extends SubsystemBase {
Timer _timer; Timer _timer;
boolean q = true;
ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardTab teb = Shuffleboard.getTab("teb");
private GenericEntry equipe = private GenericEntry equipe =
teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
@@ -39,7 +40,8 @@ public class LEDSubsystem extends SubsystemBase {
m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0))); m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
} }
public void Flash(boolean couleur){ public void Flash(boolean couleur){
if(_timer.get() <0.5){ Timer timer = new Timer();
if(timer.get() <0.5){
if(couleur){ if(couleur){
Bleu(); Bleu();
} }
@@ -49,13 +51,12 @@ public class LEDSubsystem extends SubsystemBase {
} }
else{ else{
Noir(); Noir();
_timer.reset(); timer.reset();
} }
} }
public LEDSubsystem() { public LEDSubsystem() {
setDefaultCommand(updateLEDs()); setDefaultCommand(updateLEDs());
_timer = new Timer(); _timer = new Timer();
_timer.reset();
_timer.start(); _timer.start();
} }
public boolean Equipe(){ public boolean Equipe(){
@@ -67,39 +68,43 @@ public class LEDSubsystem extends SubsystemBase {
* @return Command to run * @return Command to run
*/ */
public Command updateLEDs() { public Command updateLEDs() {
double temps = DriverStation.getMatchTime();
System.out.println(temps);
return run(() -> { return run(() -> {
// if(q){
// _timer.reset();
// q = false;
// }
double temps = _timer.get();
System.out.println(temps);
if(Equipe()){ if(Equipe()){
if(temps > 110){ if(temps > 30){
Vert(); Vert();
} }
else if(temps > 88){ else if(temps > 52){
Bleu(); Bleu();
} }
else if(temps > 85){ else if(temps > 55){
Flash(true); Flash(true);
} }
else if(temps > 63){ else if(temps > 67){
Rouge(); Rouge();
} }
else if(temps > 60){ else if(temps > 70){
Flash(false); Flash(false);
} }
else if(temps > 33){ else if(temps > 103){
Bleu(); Bleu();
} }
else if(temps > 30){ else if(temps > 105){
Flash(true); Flash(true);
} }
else if(temps > 13){ else if(temps > 127){
Rouge(); Rouge();
} }
else if(temps > 10){ else if(temps > 130){
Flash(false); Flash(false);
} }
else if(temps < 10){ else if(temps < 140){
Vert(); Vert();
} }
} }
@@ -136,6 +141,8 @@ public class LEDSubsystem extends SubsystemBase {
Vert(); Vert();
} }
} }
// _timer.stop();
}); });
} }
} }