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debug de jeudi

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This commit is contained in:
samuel desharnais
2026-03-28 09:16:33 -04:00
parent 57fa3597e2
commit 79568a58b9
8 changed files with 33 additions and 95 deletions
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4
src/main/deploy/pathplanner/paths/TirerSimple.path
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@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxVelocity": 5.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
@@ -50,5 +50,5 @@
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}

10
src/main/deploy/pathplanner/settings.json
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@@ -16,12 +16,12 @@
"robotMass": 51.673,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.374,
"driveWheelRadius": 0.099,
"driveGearing": 6.2,
"maxDriveSpeed": 9.82,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"driveCurrentLimit": 120.0,
"wheelCOF": 1.1,
"flModuleX": 0.288925,
"flModuleY": 0.269875,
"frModuleX": 0.288925,

2
src/main/java/frc/robot/RobotContainer.java
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@@ -20,7 +20,6 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.Aspirer;
import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
import frc.robot.commands.DistanceLancer;
import frc.robot.commands.Lancer;
import frc.robot.commands.LancerAspirer;
import frc.robot.commands.LancerBaseVitesse;
@@ -94,7 +93,6 @@ public class RobotContainer {
}
private void configureBindings() {
led.setDefaultCommand(new DistanceLancer(limeLight3G, led));
drivetrain.setDefaultCommand(
drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05))

61
src/main/java/frc/robot/commands/DistanceLancer.java
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@@ -1,61 +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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.Limelight3G;
/* 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 DistanceLancer extends Command {
private Led led;
private Limelight3G limelight3g;
/** Creates a new DitanceLancer. */
public DistanceLancer(Limelight3G limelight3g, Led led) {
this.led = led;
this.limelight3g = limelight3g;
addRequirements(led,limelight3g);
// 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() {
double botx = 0;
double boty = 0;
double[] BotPose = new double[6];
double distance = 0;
if(limelight3g.getV()){
BotPose = limelight3g.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
}
if(limelight3g.getV()){
distance = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
}
if(distance > 1.7){
led.Jaune2();
}
else{
}
}
// 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;
}
}

2
src/main/java/frc/robot/commands/Lancer.java
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@@ -20,7 +20,7 @@ public class Lancer extends Command {
public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
this.lanceur = lanceur;
this.timer = new Timer();
this.limeLight3G = new Limelight3G();
this.limeLight3G = limeLight3G;
addRequirements(lanceur, limeLight3G);
// Use addRequirements() here to declare subsystem dependencies.
}

6
src/main/java/frc/robot/commands/Limelighter.java
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@@ -61,12 +61,12 @@ public class Limelighter extends Command {
boty = BotPose[0];
angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
if(angle >180){
angle =- 360;
angle -= 360;
}
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 10;
drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul);
System.out.println(angle);
if (calcul < 0.2 && calcul > -0.2) {
drivetrain.setControl(drive.withRotationalRate(0));
}

31
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
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@@ -7,16 +7,18 @@ package frc.robot.commands.ModeAuto;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj.Timer;
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 frc.robot.subsystems.Limelight3G;
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 LimelighterAuto extends Command {
Timer timer;
Limelight3G limelight3g;
CommandSwerveDrivetrain drivetrain;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -25,6 +27,7 @@ public class LimelighterAuto extends Command {
double boty;
double angle;
double calcul;
Optional<Alliance> alliance = DriverStation.getAlliance();
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -34,39 +37,37 @@ public class LimelighterAuto extends Command {
this.limelight3g = limelight3g;
this.drivetrain = drivetrain;
addRequirements(drivetrain, limelight3g);
timer = new Timer();
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
timer.reset();
}
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] BotPose = new double[6];
System.out.println("e");
if (limelight3g.getV()) {
BotPose = limelight3g.getBotPoseBlue();
if(alliance.get() == Alliance.Blue){
BotPose = limelight3g.getBotPoseBlue();
}
else{
BotPose = limelight3g.getBotPoseRed();
}
botx = BotPose[1];
boty = BotPose[0];
angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
if(angle >180){
angle =- 360;
angle -= 360;
}
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul);
if (calcul < 0.2 && calcul > -0.2) {
// timer.start();
// } else {
// timer.reset();
// }
// } else {
// timer.stop();
drivetrain.setControl(drive.withRotationalRate(0));
}
}
@@ -80,7 +81,6 @@ public class LimelighterAuto extends Command {
@Override
public void end(boolean interrupted) {
drivetrain.setControl(drive.withRotationalRate(0));
timer.stop();
}
// Returns true when the command should end.
@@ -89,3 +89,4 @@ public class LimelighterAuto extends Command {
return calcul < 0.1 && calcul > -0.1;
}
}

12
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -248,12 +248,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
@Override
public void periodic() {
// if(getPigeon2().getYaw().getValueAsDouble() > 360){
// getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()-360);
// }
// else if(getPigeon2().getYaw().getValueAsDouble() < 0){
// getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
// }
if(getPigeon2().getYaw().getValueAsDouble() > 360){
getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()-360);
}
else if(getPigeon2().getYaw().getValueAsDouble() < 0){
getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
}
/*
* Periodically try to apply the operator perspective.