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Pathplanner sans le drivetrain

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This commit is contained in:
Antoine PerreaultE
2026-03-09 20:29:08 -04:00
parent 404afdbef5
commit 8dfcd65405
26 changed files with 1183 additions and 17 deletions
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12
src/main/deploy/pathplanner/autos/DepotTirer.auto
View File

@@ -17,7 +17,13 @@
{
"type": "named",
"data": {
"name": null
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
@@ -32,13 +38,13 @@
{
"type": "named",
"data": {
"name": null
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": null
"name": "Lancer"
}
}
]

30
src/main/deploy/pathplanner/autos/DepotTirerMur.auto
View File

@@ -17,7 +17,13 @@
{
"type": "named",
"data": {
"name": null
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
@@ -32,19 +38,19 @@
{
"type": "named",
"data": {
"name": null
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": null
"name": "Lancer"
}
},
{
"type": "named",
"data": {
"name": null
"name": "TournerA180"
}
},
{
@@ -56,13 +62,25 @@
{
"type": "named",
"data": {
"name": null
"name": "GrimperMur"
}
},
{
"type": "named",
"data": {
"name": null
"name": "MonterGrimpeur"
}
},
{
"type": "path",
"data": {
"pathName": "MonterMur"
}
},
{
"type": "named",
"data": {
"name": "DescendreGrimpeur"
}
}
]

30
src/main/deploy/pathplanner/autos/DepotTirerReservoir.auto
View File

@@ -17,7 +17,13 @@
{
"type": "named",
"data": {
"name": null
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
@@ -32,19 +38,19 @@
{
"type": "named",
"data": {
"name": null
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": null
"name": "Lancer"
}
},
{
"type": "named",
"data": {
"name": null
"name": "TournerAZero"
}
},
{
@@ -56,13 +62,25 @@
{
"type": "named",
"data": {
"name": null
"name": "GrimperReservoir"
}
},
{
"type": "named",
"data": {
"name": null
"name": "MonterGrimpeur"
}
},
{
"type": "path",
"data": {
"pathName": "MonterReservoir"
}
},
{
"type": "named",
"data": {
"name": "DescendreGrimpeur"
}
}
]

56
src/main/deploy/pathplanner/autos/MilieuDroite.auto Normal file
View File

@@ -0,0 +1,56 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "ChercherMilieuDroite"
}
},
{
"type": "named",
"data": {
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "RetourMilieuDroite"
}
},
{
"type": "named",
"data": {
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": "Lancer"
}
}
]
}
},
"resetOdom": true,
"folder": "Milieu",
"choreoAuto": false
}

62
src/main/deploy/pathplanner/autos/MilieuDroiteProche.auto Normal file
View File

@@ -0,0 +1,62 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "ChercherMilieuDroiteProche"
}
},
{
"type": "named",
"data": {
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "PartirMilieuDroiteProche"
}
},
{
"type": "named",
"data": {
"name": "RetourMilieuDroite"
}
},
{
"type": "named",
"data": {
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": "Lancer"
}
}
]
}
},
"resetOdom": true,
"folder": "Milieu",
"choreoAuto": false
}

56
src/main/deploy/pathplanner/autos/MilieuGauche.auto Normal file
View File

@@ -0,0 +1,56 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "ChercherMilieuGauche"
}
},
{
"type": "named",
"data": {
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "RetourMilieuGauche"
}
},
{
"type": "named",
"data": {
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": "Lancer"
}
}
]
}
},
"resetOdom": true,
"folder": "Milieu",
"choreoAuto": false
}

62
src/main/deploy/pathplanner/autos/MilieuGaucheProche.auto Normal file
View File

@@ -0,0 +1,62 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "ChercherMilieuGaucheProche"
}
},
{
"type": "named",
"data": {
"name": "DescendreBalayeuse"
}
},
{
"type": "named",
"data": {
"name": "Aspirer"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "PartirMilieuGaucheProche"
}
},
{
"type": "named",
"data": {
"name": "RetourMilieuGauche"
}
},
{
"type": "named",
"data": {
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": "Lancer"
}
}
]
}
},
"resetOdom": true,
"folder": "Milieu",
"choreoAuto": false
}

4
src/main/deploy/pathplanner/autos/TirSimple.auto
View File

@@ -13,13 +13,13 @@
{
"type": "named",
"data": {
"name": null
"name": "Limelighter"
}
},
{
"type": "named",
"data": {
"name": null
"name": "Lancer"
}
}
]

75
src/main/deploy/pathplanner/paths/ChercherMilieuDroite.path Normal file
View File

@@ -0,0 +1,75 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.026,
"y": 0.685
},
"prevControl": null,
"nextControl": {
"x": 8.399509272467903,
"y": 0.7238159771754633
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.295877318116975,
"y": 1.238
},
"prevControl": {
"x": 8.295877318116975,
"y": 0.48503351833476316
},
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"y": 2.0013808844507857
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.295877318116975,
"y": 3.322
},
"prevControl": {
"x": 8.295877318116975,
"y": 2.2023305396701525
},
"nextControl": null,
"isLocked": false,
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}
],
"rotationTargets": [
{
"waypointRelativePos": 0.7420042643923158,
"rotationDegrees": 90.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 90.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": 90.0
},
"useDefaultConstraints": true
}

89
src/main/deploy/pathplanner/paths/ChercherMilieuDroiteProche.path Normal file
View File

@@ -0,0 +1,89 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.000242510699001,
"y": 0.6515406562054205
},
"prevControl": null,
"nextControl": {
"x": 5.772958630527817,
"y": 0.6310199714693305
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.0057346647646215,
"y": 1.2725962910128386
},
"prevControl": {
"x": 6.0057346647646215,
"y": 0.5196298093476017
},
"nextControl": {
"x": 6.0057346647646215,
"y": 2.0359771754636244
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.8,
"y": 3.322
},
"prevControl": {
"x": 5.8,
"y": 2.2023305396701525
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.7420042643923158,
"rotationDegrees": 90.0
}
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 0.7292370020256648,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 90.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": 90.0
},
"useDefaultConstraints": true
}

75
src/main/deploy/pathplanner/paths/ChercherMilieuGauche.path Normal file
View File

@@ -0,0 +1,75 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.026119828815976,
"y": 7.314950071326677
},
"prevControl": null,
"nextControl": {
"x": 8.399629101283878,
"y": 7.35376604850214
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.295877318116975,
"y": 6.771526390870186
},
"prevControl": {
"x": 8.295877318116975,
"y": 7.524492872535423
},
"nextControl": {
"x": 8.295877318116975,
"y": 6.0081455064194005
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.295877318116975,
"y": 4.688402282453637
},
"prevControl": {
"x": 8.32422939366089,
"y": 5.807712722058167
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.7420042643923158,
"rotationDegrees": -90.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}

89
src/main/deploy/pathplanner/paths/ChercherMilieuGaucheProche.path Normal file
View File

@@ -0,0 +1,89 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.064935805991441,
"y": 7.392582025677603
},
"prevControl": null,
"nextControl": {
"x": 5.617574893009986,
"y": 7.314950071326676
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.915164051355206,
"y": 6.758587731811698
},
"prevControl": {
"x": 5.915164051355206,
"y": 7.511554213476935
},
"nextControl": {
"x": 5.915164051355206,
"y": 5.995206847360913
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.8,
"y": 4.688402282453637
},
"prevControl": {
"x": 5.828352075543914,
"y": 5.807712722058167
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.7420042643923158,
"rotationDegrees": -90.0
}
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.8426738690074239,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/MonterMur.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.0761055634807417,
"y": 4.85660485021398
},
"prevControl": null,
"nextControl": {
"x": 0.8292699165532256,
"y": 4.81695433438033
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.0761055634807417,
"y": 4.623708987161199
},
"prevControl": {
"x": 1.3604504533921022,
"y": 4.6356950204744996
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/MonterReservoir.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.0502282453637657,
"y": 2.4758915834522113
},
"prevControl": null,
"nextControl": {
"x": 1.0408884389937225,
"y": 2.742159765250622
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.0502282453637657,
"y": 2.7734807417974334
},
"prevControl": {
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"y": 2.523521721541598
},
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"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/PartirMilieuDroiteProche.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.8,
"y": 3.322
},
"prevControl": null,
"nextControl": {
"x": 6.486128029253273,
"y": 1.6749552651197097
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.820870185449357,
"y": 0.8714978601997154
},
"prevControl": {
"x": 6.300963707518119,
"y": 2.122306196505451
},
"nextControl": null,
"isLocked": false,
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}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
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"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": 90.0
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/PartirMilieuGaucheProche.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.8,
"y": 4.688402282453637
},
"prevControl": null,
"nextControl": {
"x": 6.22710768166824,
"y": 6.07993837753099
},
"isLocked": false,
"linkedName": null
},
{
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"x": 6.963195435092723,
"y": 6.913851640513553
},
"prevControl": {
"x": 6.833040037863721,
"y": 6.563509208473397
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}

36
src/main/deploy/pathplanner/settings.json Normal file
View File

@@ -0,0 +1,36 @@
{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [
"Milieu"
],
"autoFolders": [
"Milieu"
],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 74.088,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.273,
"flModuleY": 0.273,
"frModuleX": 0.273,
"frModuleY": -0.273,
"blModuleX": -0.273,
"blModuleY": 0.273,
"brModuleX": -0.273,
"brModuleY": -0.273,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": []
}

23
src/main/java/frc/robot/RobotContainer.java
View File

@@ -4,6 +4,8 @@
package frc.robot;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
@@ -13,9 +15,18 @@ import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
import frc.robot.commands.Lancer;
import frc.robot.commands.LancerBaseVitesse;
import frc.robot.commands.Limelighter;
import frc.robot.commands.ModeOposer;
import frc.robot.commands.MonterBalyeuse;
import frc.robot.commands.MonterGrimpeur;
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.RetourMilieuDroite;
import frc.robot.commands.ModeAuto.RetourMilieuGauche;
import frc.robot.commands.ModeAuto.TournerA180;
import frc.robot.commands.ModeAuto.TournerAZero;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Lanceur;
@@ -32,6 +43,18 @@ public class RobotContainer {
public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings();
NamedCommands.registerCommand("GrimperMur", new GrimperMur());
NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir());
NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
NamedCommands.registerCommand("Limelighter", new Limelighter());
NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
NamedCommands.registerCommand("TournerAZero", new TournerAZero());
NamedCommands.registerCommand("TournerA180", new TournerA180());
NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
}
private void configureBindings() {

33
src/main/java/frc/robot/commands/Limelighter.java Normal file
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@@ -0,0 +1,33 @@
// 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;
/* 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 Limelighter extends Command {
/** Creates a new Limelighter. */
public Limelighter() {
// 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() {}
// 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;
}
}

41
src/main/java/frc/robot/commands/ModeAuto/AspirerAuto.java Normal file
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@@ -0,0 +1,41 @@
// 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 edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
/* 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 AspirerAuto extends Command {
Balayeuse balayeuse;
/** Creates a new AspirerAuto. */
public AspirerAuto(Balayeuse balayeuse) {
this.balayeuse = balayeuse;
addRequirements(balayeuse);
// 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() {
balayeuse.Balayer(0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
balayeuse.Balayer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

33
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java Normal file
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@@ -0,0 +1,33 @@
// 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 edu.wpi.first.wpilibj2.command.Command;
/* 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 GrimperReservoir extends Command {
/** Creates a new GrimperReservoir. */
public GrimperReservoir() {
// 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() {}
// 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;
}
}

46
src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java Normal file
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@@ -0,0 +1,46 @@
// 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 edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Lanceur;
/* 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 LancerAuto extends Command {
Lanceur lanceur;
Timer timer;
/** Creates a new LancerAuto. */
public LancerAuto(Lanceur lanceur) {
this.lanceur = lanceur;
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
timer.start();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
lanceur.Lancer(0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lanceur.Lancer(0);
timer.reset();
timer.stop();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return timer.get() > 3;
}
}

33
src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java Normal file
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@@ -0,0 +1,33 @@
// 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 edu.wpi.first.wpilibj2.command.Command;
/* 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 RetourMilieuDroite extends Command {
/** Creates a new RetourMilieu. */
public RetourMilieuDroite() {
// 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() {}
// 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;
}
}

33
src/main/java/frc/robot/commands/ModeAuto/RetourMilieuGauche.java Normal file
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@@ -0,0 +1,33 @@
// 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 edu.wpi.first.wpilibj2.command.Command;
/* 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 RetourMilieuGauche extends Command {
/** Creates a new RetourMilieuGauche. */
public RetourMilieuGauche() {
// 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() {}
// 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;
}
}

33
src/main/java/frc/robot/commands/ModeAuto/TournerA180.java Normal file
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@@ -0,0 +1,33 @@
// 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 edu.wpi.first.wpilibj2.command.Command;
/* 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 TournerA180 extends Command {
/** Creates a new TournerA180. */
public TournerA180() {
// 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() {}
// 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;
}
}

33
src/main/java/frc/robot/commands/ModeAuto/TournerAZero.java Normal file
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@@ -0,0 +1,33 @@
// 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 edu.wpi.first.wpilibj2.command.Command;
/* 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 TournerAZero extends Command {
/** Creates a new TournerAZero. */
public TournerAZero() {
// 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() {}
// 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;
}
}