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tourner selon l'équipe

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This commit is contained in:
samuel desharnais
2026-03-24 19:59:14 -04:00
parent 36a6bf2ab0
commit 33fd6ceb23
6 changed files with 91 additions and 67 deletions
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5
simgui-ds.json
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@@ -1,9 +1,4 @@
{
"System Joysticks": {
"window": {
"enabled": false
}
},
"keyboardJoysticks": [
{
"axisConfig": [

22
src/main/deploy/pathplanner/settings.json
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@@ -16,19 +16,19 @@
"robotMass": 51.673,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.051,
"driveGearing": 6.122448979591837,
"maxDriveSpeed": 9.82,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.374,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 120.0,
"wheelCOF": 1.1,
"flModuleX": 0.289,
"flModuleY": 0.27,
"frModuleX": 0.289,
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.288925,
"flModuleY": 0.269875,
"frModuleX": 0.288925,
"frModuleY": -0.27,
"blModuleX": -0.289,
"blModuleY": 0.27,
"brModuleX": -0.289,
"blModuleX": -0.288925,
"blModuleY": 0.269875,
"brModuleX": -0.288925,
"brModuleY": -0.27,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,

7
src/main/java/frc/robot/RobotContainer.java
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@@ -37,8 +37,7 @@ import frc.robot.commands.ModeAuto.GrimperReservoir;
import frc.robot.commands.ModeAuto.LancerAuto;
import frc.robot.commands.ModeAuto.RetourMilieuDroite;
import frc.robot.commands.ModeAuto.RetourMilieuGauche;
import frc.robot.commands.ModeAuto.TournerA180;
import frc.robot.commands.ModeAuto.TournerAZero;
import frc.robot.commands.ModeAuto.TournerVersMur;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -82,8 +81,7 @@ public class RobotContainer {
NamedCommands.registerCommand("Limelighter", new Limelighter(limeLight3G,drivetrain));
NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
NamedCommands.registerCommand("TournerAZero", new TournerAZero(drivetrain));
NamedCommands.registerCommand("TournerA180", new TournerA180(drivetrain));
NamedCommands.registerCommand("TournerA180", new TournerVersMur(drivetrain));
NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser();
@@ -115,7 +113,6 @@ public class RobotContainer {
manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
manette.rightBumper().whileTrue(new Aspirer(balayeuse));
manette.y().whileTrue(new TournerAZero(drivetrain));
manette.b().whileTrue(new GrimperReservoir(limeLight3G, drivetrain));
manette.x().whileTrue(new GrimperMur(limeLight3, drivetrain));

26
src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
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@@ -8,14 +8,10 @@ import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import java.util.Optional;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -28,13 +24,9 @@ public class GrimperMur extends Command {
double[] BotPose = new double[6];
double botx;
double boty;
double x;
double y;
double angle;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
Pigeon2 pigeon2;
Optional<Alliance> alliance = DriverStation.getAlliance();
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -53,24 +45,14 @@ public class GrimperMur extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(alliance.get() == Alliance.Blue){
y = 2.961328;
x = 1.11;
angle = 180;
}
else{
x = 11.45966;
y = 6.959326;
angle = 0;
}
BotPose = limeLight3.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
if(angle-pigeon2.getYaw().getValueAsDouble() < angle+10 && angle- pigeon2.getYaw().getValueAsDouble() > angle-10){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
if(180-pigeon2.getYaw().getValueAsDouble() < 10 && 180- pigeon2.getYaw().getValueAsDouble() > -10){
drivetrain.setControl(drive.withVelocityX(2.961328-boty).withVelocityY(1.11-botx));
}
else{
drivetrain.setControl(drive.withRotationalRate(angle-pigeon2.getYaw().getValueAsDouble()*Math.PI/180));
drivetrain.setControl(drive.withRotationalRate(180-pigeon2.getYaw().getValueAsDouble()/45));
}
}
@@ -83,6 +65,6 @@ public class GrimperMur extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
return (2.961328-boty < 0.05 || 2.961328-boty >-0.05) && (1.11-botx < 0.05 || 1.11-botx > -0.05);
}
}

26
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
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@@ -8,14 +8,10 @@ import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import java.util.Optional;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -28,13 +24,9 @@ public class GrimperReservoir extends Command {
double[] BotPose = new double[6];
double botx;
double boty;
double x;
double y;
double angle;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
Pigeon2 pigeon2;
Optional<Alliance> alliance = DriverStation.getAlliance();
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -53,24 +45,14 @@ public class GrimperReservoir extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(alliance.get() == Alliance.Blue){
y = 5.081328;
x = 1.11;
angle = 0;
}
else{
y = 6.959326;
x = 13.57966;
angle = 180;
}
BotPose = limeLight3G.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
if(angle-pigeon2.getYaw().getValueAsDouble() < angle+10 && angle- pigeon2.getYaw().getValueAsDouble() > angle-10){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
if(0-pigeon2.getYaw().getValueAsDouble() < 10 && 0- pigeon2.getYaw().getValueAsDouble() > -10){
drivetrain.setControl(drive.withVelocityX(5.081328-boty).withVelocityY(1.11-botx));
}
else{
drivetrain.setControl(drive.withRotationalRate(angle-pigeon2.getYaw().getValueAsDouble()*Math.PI/180));
drivetrain.setControl(drive.withRotationalRate(0-pigeon2.getYaw().getValueAsDouble()/45));
}
}
@@ -83,6 +65,6 @@ public class GrimperReservoir extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
return 5.081328-boty < 0.05 || 5.081328-boty >-0.05 && 1.11-botx < 0.05 || 1.11-botx > -0.05;
}
}

68
src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java Normal file
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@@ -0,0 +1,68 @@
// 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.commands.ModeAuto;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import static edu.wpi.first.units.Units.*;
import java.util.Optional;
/* 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 TournerVersMur extends Command {
CommandSwerveDrivetrain drivetrain;
Optional<Alliance> alliance = DriverStation.getAlliance();
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
Pigeon2 pigeon2;
double force;
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
/** Creates a new TournerAZero. */
public TournerVersMur(CommandSwerveDrivetrain drivetrain) {
this.drivetrain = drivetrain;
addRequirements(drivetrain);
// 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() {
if(alliance.get() == Alliance.Blue){
force = 0.5;
}
else{
force = -0.5;
}
if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
drivetrain.setControl(drive.withRotationalRate(force));
}
else if(pigeon2.getYaw().getValueAsDouble() >180){
drivetrain.setControl(drive.withRotationalRate(-force));
}
}
// 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 pigeon2.getYaw().getValueAsDouble() > 165 && pigeon2.getYaw().getValueAsDouble() < 195;
}
}