sdesharnais/Rebuilt-2026
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This commit is contained in:
Samuel
2026-04-01 13:13:18 -04:00
parent 4438560698
commit 5916f4f141
4 changed files with 106 additions and 155 deletions
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11
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -22,14 +22,10 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
@@ -58,10 +54,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
/* Swerve requests to apply during SysId characterization */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
private GenericEntry equipe =
teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config(
@@ -227,9 +220,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
configureAutoBuilder();
}
public boolean Equipe(){
return equipe.getBoolean(false);
}
/**
* Returns a command that applies the specified control request to this swerve drivetrain.
*