vfdrty

src/main/deploy/pathplanner/autos/Copy of DepotTirerReservoir.auto

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

src/main/deploy/pathplanner/autos/DepotTirerMur.auto

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

src/main/deploy/pathplanner/autos/DepotTirerReservoir.auto

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

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

@@ -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() {

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;
       }
@@ -65,36 +65,47 @@ public class Limelighter extends Command {
         x = 11.915394;
        BotPose = limelight3g.getBotPoseRed();
       }
-      botx = BotPose[1];
+      if(calcul > -5 && calcul < 5){
-      boty = BotPose[0];
+         drivetrain.setControl(
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+           drive.withRotationalRate(0));
-      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){
+      else if(calcul > 5){
         drivetrain.setControl(
           drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
       else if(calcul < -5){
-        drivetrain.setControl(
+        drivetrain.setControl(drive.withRotationalRate(-0.5*(2*Math.PI)));
-          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));
       }
+      // 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));

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.

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

@@ -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){

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/subsystems/CommandSwerveDrivetrain.java

@@ -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.

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

@@ -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
     
-  }
+  // }
     
 }

src/main/java/frc/robot/subsystems/Limelight3G.java

@@ -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