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led

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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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9
src/main/java/frc/robot/RobotContainer.java
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@@ -45,8 +45,8 @@ import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.Balayeuse; import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Grimpeur; import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.LEDSubsystem;
import frc.robot.subsystems.Lanceur; import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.LimeLight3; import frc.robot.subsystems.LimeLight3;
import frc.robot.subsystems.Limelight3G; import frc.robot.subsystems.Limelight3G;
@@ -57,7 +57,7 @@ public class RobotContainer {
Lanceur lanceur = new Lanceur(); Lanceur lanceur = new Lanceur();
LimeLight3 limeLight3 = new LimeLight3(); LimeLight3 limeLight3 = new LimeLight3();
Limelight3G limeLight3G = new Limelight3G(); Limelight3G limeLight3G = new Limelight3G();
Led led = new Led(); LEDSubsystem ledSubsystem = new LEDSubsystem();
CommandXboxController manette = new CommandXboxController(0); CommandXboxController manette = new CommandXboxController(0);
CommandXboxController manette1 = new CommandXboxController(1); CommandXboxController manette1 = new CommandXboxController(1);
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -67,10 +67,6 @@ public class RobotContainer {
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric() private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
private final Telemetry logger = new Telemetry(MaxSpeed);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
@@ -99,6 +95,7 @@ public class RobotContainer {
} }
private void configureBindings() { private void configureBindings() {
ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05))

11
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
View File

@@ -22,14 +22,10 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3; 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;
import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Notifier; import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController; 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.Command;
import edu.wpi.first.wpilibj2.command.Subsystem; import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; 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 */ /* Swerve requests to apply during SysId characterization */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation(); private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains(); private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation(); 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. */ /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine( private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config( new SysIdRoutine.Config(
@@ -227,9 +220,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
} }
configureAutoBuilder(); configureAutoBuilder();
} }
public boolean Equipe(){
return equipe.getBoolean(false);
}
/** /**
* Returns a command that applies the specified control request to this swerve drivetrain. * Returns a command that applies the specified control request to this swerve drivetrain.
* *

106
src/main/java/frc/robot/subsystems/LEDSubsystem.java
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@@ -1,8 +1,12 @@
/* Generated by Phoenix Tuner X */ /* Generated by Phoenix Tuner X */
package frc.robot.subsystems; package frc.robot.subsystems;
import static edu.wpi.first.units.Units.*; import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
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.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -15,6 +19,9 @@ import com.ctre.phoenix6.signals.RGBWColor;
* Subsystem that controls an addressable LED strip using a CANdle. * Subsystem that controls an addressable LED strip using a CANdle.
*/ */
public class LEDSubsystem extends SubsystemBase { public class LEDSubsystem extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private GenericEntry equipe =
teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
private final CANBus kCANBus = new CANBus("rio"); private final CANBus kCANBus = new CANBus("rio");
private final CANdle m_candle = new CANdle(17, kCANBus); private final CANdle m_candle = new CANdle(17, kCANBus);
public void Bleu(){ public void Bleu(){
@@ -23,17 +30,108 @@ public class LEDSubsystem extends SubsystemBase {
public void Rouge(){ public void Rouge(){
new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0)); new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0));
} }
public void Vert(){
new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0));
}
public void Noir(){
new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0));
}
public void Flach(boolean couleur){
Timer timer = new Timer();
timer.start();
if(timer.get() <0.5){
if(couleur){
Bleu();
}
else{
Rouge();
}
}
else{
Noir();
timer.reset();
}
}
public LEDSubsystem() { public LEDSubsystem() {
setDefaultCommand(updateLEDs()); setDefaultCommand(updateLEDs());
} }
public boolean Equipe(){
return equipe.getBoolean(false);
}
/** /**
* Updates the animations and LEDs of the CANdle. * Updates the animations and LEDs of the CANdle.
* *
* @return Command to run * @return Command to run
*/ */
public Command updateLEDs() { public Command updateLEDs() {
return run(() -> {}); double temps = DriverStation.getMatchTime();
return run(() -> {
if(Equipe()){
if(temps < 30){
Vert();
}
else if(temps < 52){
Bleu();
}
else if(temps < 55){
Flach(true);
}
else if(temps < 77){
Rouge();
}
else if(temps < 80){
Flach(false);
}
else if(temps < 102){
Bleu();
}
else if(temps < 105){
Flach(true);
}
else if(temps <127){
Rouge();
}
else if(temps < 130){
Flach(false);
}
else if(temps < 140){
Vert();
}
}
else{
if(temps < 30){
Vert();
}
else if(temps < 52){
Rouge();
}
else if(temps < 55){
Flach(false);
}
else if(temps < 77){
Bleu();
}
else if(temps < 80){
Flach(true);
}
else if(temps < 102){
Rouge();
}
else if(temps < 105){
Flach(false);
}
else if(temps <127){
Bleu();
}
else if(temps < 130){
Flach(true);
}
else if(temps < 140){
Vert();
}
}
});
} }
} }

135
src/main/java/frc/robot/subsystems/Led.java
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@@ -1,135 +0,0 @@
// 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.subsystems;
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.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Led extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
CANdle CANDle = new CANdle(17);
RainbowAnimation rainbowAnim = new RainbowAnimation();
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);
}
@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);
}
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);
}
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);
}
@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);
}
@SuppressWarnings("removal")
public void RainBow(){
CANDle.animate(rainbowAnim);
}
@SuppressWarnings("removal")
public void RainBowStop(){
CANDle.animate(null);
}
/** Creates a new Led. */
public Led() {}
@Override
public void periodic() {
double temps = DriverStation.getMatchTime();
if(temps > 20 && temps < 30){
Vert1();
}
// if(Equipe()){
if(temps > 30 && temps < 55){
bleu();
}
else if(temps > 30 && temps < 80){
Rouge();
}
else if(temps > 80 && temps < 105){
bleu();
}
else if(temps > 105 && temps < 130){
Rouge();
}
else{
RainBow();
}
// }
// else{
if(temps > 30 && temps < 55){
Rouge();
}
else if(temps > 30 && temps < 80){
bleu();
}
else if(temps > 80 && temps < 105){
Rouge();
}
else if(temps > 105 && temps < 130){
bleu();
}
else{
RainBow();
}
}
// This method will be called once per scheduler run
// }
}