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swerve fini

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samuel desharnais
2026-03-10 18:07:22 -04:00
parent 463b8b31a4
commit fb0ca84885
4 changed files with 733 additions and 0 deletions
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23
src/main/java/frc/robot/RobotContainer.java
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@@ -4,6 +4,10 @@
package frc.robot;
import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.cameraserver.CameraServer;
@@ -27,7 +31,9 @@ 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.generated.TunerConstants;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
@@ -40,6 +46,23 @@ public class RobotContainer {
LimeLight3 limeLight3 = new LimeLight3();
Led led = new Led();
CommandXboxController manette = new CommandXboxController(0);
private double MaxSpeed = 1.0 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
private final Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController joystick = new CommandXboxController(0);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings();