Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

src/main/java/frc/robot/commands/Inverser.java

@@ -0,0 +1,42 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* 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 Inverser extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  boolean inverse = false;
+  /** Creates a new Inverser. */
+  public Inverser(CommandSwerveDrivetrain 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(!inverse){
+      drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+      inverse = true;
+    }
+  }
+
+  // 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 false;
+  }
+}

src/main/java/frc/robot/commands/Lancer.java

@@ -48,7 +48,9 @@ public class Lancer extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     if(limeLight3G.getV()){
-    if(!alliance.isPresent()){return;}
+    if(!alliance.isPresent()){
+      return;
+    }
       if(alliance.get() == Alliance.Blue){
         BotPose = limeLight3G.getBotPoseBlue();
       }
@@ -60,10 +62,11 @@ public class Lancer extends Command {
     vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
   }                                            
     if(limeLight3G.getV()){
-      System.out.println(vitesse);
+      
 
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
+      System.out.println(output);
       if(lanceur.Vitesse() >= vitesse-800){
         timer.start();
         if(timer.get() >1){

src/main/java/frc/robot/commands/Limelighter.java

@@ -53,7 +53,7 @@ public class Limelighter extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-        // BotPose = limelight3g.getBotPoseBlue();
+         BotPose = limelight3g.getBotPoseBlue();
        if (!alliance.isPresent()) {
         return;
       }
@@ -65,25 +65,24 @@ public class Limelighter extends Command {
         x = 11.915394;
        BotPose = limelight3g.getBotPoseRed();
       }
-      botx = BotPose[1];
-      boty = BotPose[0];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      botx = BotPose[0];
+      boty = BotPose[1];
       calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(angle > 180){
-        angle -= 360;
-      }
       if(calcul > -5 && calcul < 5){
          drivetrain.setControl(
            drive.withRotationalRate(0));
       }
       else if(calcul > 5){
         drivetrain.setControl(
-           drive.withRotationalRate(0.5*(2*Math.PI)));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else if(calcul < -5){
-        drivetrain.setControl(
-           drive.withRotationalRate(-0.5*(2*Math.PI)));
+        drivetrain.setControl(drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
+      // botx = BotPose[1];
+      // boty = BotPose[0];
+      // angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      // calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
       // if(calcul < -5 && calcul > -180){
       //   drivetrain.setControl(
       //     drive.withRotationalRate(0.5*(2*Math.PI)));
@@ -92,7 +91,7 @@ public class Limelighter extends Command {
       //   drivetrain.setControl(
       //     drive.withRotationalRate(-0.5*(2*Math.PI)));
       // }
-      // else if(calcul >= 180){
+      // else if(calcul < -5){
       //   drivetrain.setControl(
       //     drive.withRotationalRate(-0.5*(2*Math.PI)));
       // }

src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java

@@ -0,0 +1,80 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* 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 BougerDroiteAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerDroiteAuto(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() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(alliance.get() == Alliance.Blue){
+      if(timer.get() < .75){
+        System.out.println("8765");
+        drivetrain.setControl(drive.withVelocityY(-1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+    else{
+      if(timer.get() < 0.75){
+        drivetrain.setControl(drive.withVelocityY(1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java

@@ -0,0 +1,79 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* 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 BougerGaucheAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerGaucheAuto(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() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(alliance.get() == Alliance.Blue){
+      if(timer.get() < 0.75){
+        drivetrain.setControl(drive.withVelocityY(1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+    else{
+      if(timer.get() < 0.75){
+        drivetrain.setControl(drive.withVelocityY(-1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java

@@ -48,7 +48,10 @@ public class GrimperMur extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    alliance = DriverStation.getAlliance();
+    // alliance = DriverStation.getAlliance();
+    //   if(drivetrain.Equipe()){
+    //         angle+=180;
+    //   }
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -62,7 +65,7 @@ public class GrimperMur extends Command {
       angle = angle + 360;
     }
     if(alliance.get() == Alliance.Blue){
-     y = 2.961328;
+     y = 5;
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){

src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java

@@ -14,6 +14,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -31,6 +32,7 @@ public class GrimperReservoir extends Command {
   double x;
   double y;
   double angle;
+  double pigeonAngle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
     Optional<Alliance> alliance = DriverStation.getAlliance(); 
@@ -48,52 +50,62 @@ public class GrimperReservoir extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    alliance = DriverStation.getAlliance();
+    // alliance = DriverStation.getAlliance();
+    // if(drivetrain.Equipe()){
+    //   drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+    // }
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    BotPose = limeLight3G.getBotPoseBlue();
-    botx = BotPose[0];
-    boty = BotPose[1];
-    System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
-    if(angle < 0){
-      angle = angle + 360;
-    }
-    if(alliance.get() == Alliance.Red){
-     y = 6.959326;
-     x = 13.57966;
-     angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
+    if(limeLight3G.getV()){
+      BotPose = limeLight3G.getBotPoseBlue();
+      botx = BotPose[0];
+      boty = BotPose[1];
+      if(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+      y = 6.959326;
+      x = 13.57966;
+      angle = 180;
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5),-2,2)));
+      }
+      else{
+        if(pigeonAngle>0 && pigeonAngle<180){
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+        else if(pigeonAngle>180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+        }
+      }
+      }
+      else{
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
+        System.out.println(pigeonAngle);
+        y = 2.6;
+        x = 1.11;
+        angle = 0;
+        if(pigeonAngle> 358 || pigeonAngle< 2){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
+        }
+        else{
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withRotationalRate(-1));
+            System.out.println("x");
+          }
+          else if(pigeonAngle>180){
+            System.out.println("e");
+            drivetrain.setControl(drive.withRotationalRate(1));
+          }
+        }
+      }
     }
     else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
     }
-    }
-    else{
-      y = 5.081328;
-     x = 1.11;
-     angle = 0;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-    }
-    }
-    
   }
 
   // Called once the command ends or is interrupted.
@@ -105,6 +117,6 @@ 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 (y-boty < 0.1 && y-boty >-0.1) && (x-botx < 0.1 && x-botx > -0.1);
   }
 }

src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java

@@ -78,7 +78,7 @@ public class LimelighterAuto extends Command {
       }
       else if(calcul > 5){
         drivetrain.setControl(
-           drive.withRotationalRate(-0.5*(2*Math.PI)));
+           drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else if(calcul < -5){
         drivetrain.setControl(

src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java

@@ -54,13 +54,18 @@ public class TournerVersReservoir extends Command {
       angle = 0;
     } 
     }
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10){
+      drivetrain.setControl(drive.withRotationalRate(0));
+    }
+    else{
     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
+      drivetrain.setControl(drive.withRotationalRate(-force*2));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
+      drivetrain.setControl(drive.withRotationalRate(force*2));
     }
   }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
@@ -69,6 +74,6 @@ public class TournerVersReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
   }
 }

src/main/java/frc/robot/commands/MonterGrimpeur.java

@@ -42,6 +42,6 @@ public class MonterGrimpeur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return Math.abs(grimpeur.Position()) > grimpeur.PositionFinal();
   }
 }