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

src/main/deploy/pathplanner/paths/TirerSimple.path

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5473894436519258,
+        "x": 3.602,
         "y": 4.015592011412268
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.494897544356074,
+        "x": 2.549508100704148,
         "y": 4.011425161481168
       },
       "isLocked": false,
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.7359771754636228,
+        "x": 1.643730569948188,
         "y": 4.015592011412268
       },
       "prevControl": {
-        "x": 2.627549770741877,
+        "x": 2.5679620034542325,
-        "y": 4.02839075681212
+        "y": 4.011502590673576
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/settings.json

@@ -16,12 +16,12 @@
   "robotMass": 51.673,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.099,
+  "driveWheelRadius": 0.051,
   "driveGearing": 6.2,
   "maxDriveSpeed": 9.82,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 120.0,
-  "wheelCOF": 1.1,
+  "wheelCOF": 1.2,
   "flModuleX": 0.288925,
   "flModuleY": 0.269875,
   "frModuleX": 0.288925,

src/main/java/frc/robot/RobotContainer.java

@@ -33,6 +33,7 @@ import frc.robot.commands.ModeAuto.AspirerAuto;
 import frc.robot.commands.ModeAuto.GrimperMur;
 import frc.robot.commands.ModeAuto.GrimperReservoir;
 import frc.robot.commands.ModeAuto.LancerAuto;
+import frc.robot.commands.ModeAuto.LimelighterAuto;
 import frc.robot.commands.ModeAuto.RetourMilieuDroite;
 import frc.robot.commands.ModeAuto.RetourMilieuGauche;
 import frc.robot.commands.ModeAuto.TournerVersMur;
@@ -77,7 +78,7 @@ public class RobotContainer {
     NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
     NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain,limeLight3G));
     NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
-    NamedCommands.registerCommand("Limelighter", new Limelighter(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("Limelighter", new LimelighterAuto(limeLight3G,drivetrain));
     NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
     NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
     NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));

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

@@ -4,7 +4,11 @@
 
 package frc.robot.commands;
 
+import java.util.Optional;
+
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
@@ -16,6 +20,11 @@ public class Lancer extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
+      double vitesse = 0.5;
+          double botx = 0;
+    double boty = 0;
+      Optional<Alliance> alliance = DriverStation.getAlliance(); 
+
   /** Creates a new Lancer. */
   public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
     this.lanceur = lanceur;
@@ -28,6 +37,7 @@ public class Lancer extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    if(limeLight3G.getV()){vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;}
     pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();  
   }
@@ -35,17 +45,19 @@ public class Lancer extends Command {
   // 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];
     if(limeLight3G.getV()){
-      BotPose = limeLight3G.getBotPoseBlue();
+     
+      if(alliance.get() == Alliance.Blue){
+        BotPose = limeLight3G.getBotPoseBlue();
+      }
+      else{
+        BotPose = limeLight3G.getBotPoseRed();
+      } 
       botx = BotPose[0];
       boty = BotPose[1];
     }                                            
-    double vitesse = 0.5;
     if(limeLight3G.getV()){
-      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
       System.out.println(vitesse);
 
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);

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

@@ -4,7 +4,11 @@
 
 package frc.robot.commands.ModeAuto;
 
+import java.util.Optional;
+
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
@@ -18,6 +22,7 @@ public class LancerAuto extends Command {
   Limelight3G limelight3g;
   double botx = 0;
   double boty = 0;
+    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   /** Creates a new LancerAuto. */
   public LancerAuto(Lanceur lanceur, Limelight3G limelight3g) {
     this.lanceur = lanceur;
@@ -38,13 +43,19 @@ public class LancerAuto extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     if(limelight3g.getV()){
-      BotPose = limelight3g.getBotPoseBlue();
+     
+      if(alliance.get() == Alliance.Blue){
+        BotPose = limelight3g.getBotPoseBlue();
+      }
+      else{
+        BotPose = limelight3g.getBotPoseRed();
+      } 
       botx = BotPose[0];
       boty = BotPose[1];
     }                                        
     double vitesse = 0.5;
     if(limelight3g.getV()){
-      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
+     vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
       System.out.println(vitesse);
 
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);

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

@@ -13,7 +13,10 @@ 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 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;
 

src/main/java/frc/robot/generated/TunerConstants.java

@@ -82,7 +82,8 @@ public class TunerConstants {
 
     private static final double kDriveGearRatio = 6.122448979591837;
     private static final double kSteerGearRatio = 21.428571428571427;
-    private static final Distance kWheelRadius = Inches.of(3.895);
+    // private static final Distance kWheelRadius = Inches.of(3.895);
+    private static final Distance kWheelRadius = Inches.of(2);
 
     private static final boolean kInvertLeftSide = false;
     private static final boolean kInvertRightSide = true;

src/main/java/frc/robot/subsystems/Grimpeur.java

@@ -36,7 +36,7 @@ public class Grimpeur extends SubsystemBase {
     return limit.get();
   }
   public double PositionFinal(){
-    return EncodeurGrimpeur.getDouble(105);
+    return EncodeurGrimpeur.getDouble(101);
   }
   /** Creates a new Grimpeur. */
   public Grimpeur() {