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This commit is contained in:
samuel desharnais
2026-03-31 19:11:09 -04:00
parent ae9a6bd046
commit 9d09af20b0
13 changed files with 232 additions and 49 deletions
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4
src/main/deploy/pathplanner/autos/Copy of DepotTirerReservoir.auto
View File

@@ -79,9 +79,9 @@
}
},
{
"type": "path",
"type": "named",
"data": {
"pathName": "MonterReservoir"
"name": "gauche"
}
},
{

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

@@ -78,9 +78,9 @@
}
},
{
"type": "path",
"type": "named",
"data": {
"pathName": "MonterMur"
"name": "droite"
}
},
{

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

@@ -78,9 +78,9 @@
}
},
{
"type": "path",
"type": "named",
"data": {
"pathName": "MonterReservoir"
"name": "gauche"
}
},
{

7
src/main/java/frc/robot/RobotContainer.java
View File

@@ -30,6 +30,8 @@ import frc.robot.commands.ModeOposerDemeleur;
import frc.robot.commands.MonterBalyeuse;
import frc.robot.commands.MonterGrimpeur;
import frc.robot.commands.ModeAuto.AspirerAuto;
import frc.robot.commands.ModeAuto.BougerDroiteAuto;
import frc.robot.commands.ModeAuto.BougerGaucheAuto;
import frc.robot.commands.ModeAuto.GrimperMur;
import frc.robot.commands.ModeAuto.GrimperReservoir;
import frc.robot.commands.ModeAuto.LancerAuto;
@@ -73,6 +75,8 @@ public class RobotContainer {
public RobotContainer() {
NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
@@ -126,7 +130,8 @@ public class RobotContainer {
manette1.b().whileTrue(new ModeOposer(lanceur));
manette1.a().whileTrue(new ModeOposerDemeleur(lanceur));
manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
manette1.povUp().whileTrue(new LancerAuto(lanceur, limeLight3G));
manette1.povRight().whileTrue(new BougerDroiteAuto(drivetrain));
manette1.povLeft().whileTrue(new BougerGaucheAuto(drivetrain));
}
public Command getAutonomousCommand() {

61
src/main/java/frc/robot/commands/Limelighter.java
View File

@@ -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;
}
@@ -65,36 +65,47 @@ public class Limelighter extends Command {
x = 11.915394;
BotPose = limelight3g.getBotPoseRed();
}
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)));
if(calcul > -5 && calcul < 5){
drivetrain.setControl(
drive.withRotationalRate(0));
}
else if(calcul > 5 && calcul < 180){
else if(calcul > 5){
drivetrain.setControl(
drive.withRotationalRate(-0.5*(2*Math.PI)));
}
else if(calcul < -5){
drivetrain.setControl(
drive.withRotationalRate(-0.5*(2*Math.PI)));
}
else if(calcul <= -180){
drivetrain.setControl(
drive.withRotationalRate(0.5*(2*Math.PI)));
}
else{
drivetrain.setControl(
drive.withRotationalRate(0));
}
drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(angle);
if (calcul < 0.2 && calcul > -0.2) {
drivetrain.setControl(drive.withRotationalRate(0));
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)));
// }
// else if(calcul > 5 && calcul < 180){
// drivetrain.setControl(
// drive.withRotationalRate(-0.5*(2*Math.PI)));
// }
// else if(calcul < -5){
// drivetrain.setControl(
// drive.withRotationalRate(-0.5*(2*Math.PI)));
// }
// else if(calcul <= -180){
// drivetrain.setControl(
// drive.withRotationalRate(0.5*(2*Math.PI)));
// }
// else{
// drivetrain.setControl(
// drive.withRotationalRate(0));
// }
// drivetrain.setControl(
// drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
// System.out.println(angle);
// if (calcul < 0.2 && calcul > -0.2) {
// drivetrain.setControl(drive.withRotationalRate(0));
// }
}
else{
drivetrain.setControl(drive.withRotationalRate(0));

80
src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java Normal file
View File

@@ -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;
}
}

79
src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java Normal file
View File

@@ -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;
}
}

5
src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
View File

@@ -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.

7
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
View File

@@ -49,7 +49,10 @@ 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.
@@ -85,7 +88,7 @@ public class GrimperReservoir extends Command {
x = 1.11;
angle = 0;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 358 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 2){
drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5),-2,2)).withRotationalRate(0));
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(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){

2
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
View File

@@ -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(

13
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
View File

@@ -22,10 +22,14 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.numbers.N1;
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.Alliance;
import edu.wpi.first.wpilibj.Notifier;
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.Subsystem;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
@@ -54,8 +58,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
/* Swerve requests to apply during SysId characterization */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
ShuffleboardTab teb = Shuffleboard.getTab("teb");
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. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config(
@@ -221,7 +227,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
configureAutoBuilder();
}
public boolean Equipe(){
return equipe.getBoolean(false);
}
/**
* Returns a command that applies the specified control request to this swerve drivetrain.
*
@@ -254,7 +262,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
else if(getPigeon2().getYaw().getValueAsDouble() < 0){
getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
}
/*
* Periodically try to apply the operator perspective.
* If we haven't applied the operator perspective before, then we should apply it regardless of DS state.

13
src/main/java/frc/robot/subsystems/Led.java
View File

@@ -16,8 +16,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Led extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private GenericEntry equipe =
teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
@SuppressWarnings("removal")
CANdle CANDle = new CANdle(17);
@SuppressWarnings("removal")
@@ -91,9 +89,6 @@ public class Led extends SubsystemBase {
public void RainBowStop(){
CANDle.animate(null);
}
public boolean Equipe(){
return equipe.getBoolean(true);
}
/** Creates a new Led. */
public Led() {}
@@ -104,7 +99,7 @@ public class Led extends SubsystemBase {
if(temps > 20 && temps < 30){
Vert1();
}
if(Equipe()){
// if(Equipe()){
if(temps > 30 && temps < 55){
bleu();
}
@@ -120,8 +115,8 @@ public class Led extends SubsystemBase {
else{
RainBow();
}
}
else{
// }
// else{
if(temps > 30 && temps < 55){
Rouge();
}
@@ -140,6 +135,6 @@ public class Led extends SubsystemBase {
}
// This method will be called once per scheduler run
}
// }
}

2
src/main/java/frc/robot/subsystems/Limelight3G.java
View File

@@ -72,7 +72,7 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
}
else{
return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)-360 - angle;
return -Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
}
}
@Override