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

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

@@ -0,0 +1,99 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Depot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Tir"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Lancer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "GrimperReservoir"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GrimperReservoir"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "MonterGrimpeur"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MonterReservoir"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreGrimpeur"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -14,6 +14,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "path",
                 "data": {

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

@@ -14,6 +14,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "path",
                 "data": {

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.0502282453637657,
+        "x": 1.0,
-        "y": 2.4758915834522113
+        "y": 2.6
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.0408884389937225,
+        "x": 0.9906601936299568,
-        "y": 2.742159765250622
+        "y": 2.866268181798411
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.0502282453637657,
+        "x": 1.0,
-        "y": 2.7734807417974334
+        "y": 2.9
       },
       "prevControl": {
-        "x": 1.0547546338516156,
+        "x": 1.00452638848785,
-        "y": 2.523521721541598
+        "y": 2.6500409797441646
       },
       "nextControl": null,
       "isLocked": false,

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

@@ -126,6 +126,7 @@ 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));
   }
 
   public Command getAutonomousCommand() {

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

@@ -69,47 +69,32 @@ public class Limelighter extends Command {
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
       calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(angle > 180){
+      if(calcul < -5 && calcul > -180){
-        angle -= 360;
-      }
-      if(calcul > -5 && calcul < 5){
-         drivetrain.setControl(
-           drive.withRotationalRate(0));
-      }
-      else if(calcul > 5){
         drivetrain.setControl(
-           drive.withRotationalRate(-0.5*(2*Math.PI)));
+          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)));
+          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));
       }
-      // 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 >= 180){
-      //   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/GrimperMur.java

@@ -62,7 +62,7 @@ public class GrimperMur extends Command {
       angle = angle + 360;
     }
     if(alliance.get() == Alliance.Blue){
-     y = 2.961328;
+     y = 5;
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){

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

@@ -14,6 +14,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -54,46 +55,53 @@ public class GrimperReservoir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    BotPose = limeLight3G.getBotPoseBlue();
+    if(limeLight3G.getV()){
-    botx = BotPose[0];
+
-    boty = BotPose[1];
+      BotPose = limeLight3G.getBotPoseBlue();
-    System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
+      botx = BotPose[0];
-    if(angle < 0){
+      boty = BotPose[1];
-      angle = angle + 360;
+      System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
-    }
+      if(angle < 0){
-    if(alliance.get() == Alliance.Red){
+        angle = angle + 360;
-     y = 6.959326;
+      }
-     x = 13.57966;
+      if(alliance.get() == Alliance.Red){
-     angle = 180;
+      y = 6.959326;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
+      x = 13.57966;
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
+      angle = 180;
+      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5),-2,2)));
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+        }
+      }
+      }
+      else{
+        y = 2.6;
+      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));
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+          System.out.println("x");
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+          System.out.println("e");
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+      }
+      }
     }
     else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
     }
-    }
-    else{
-      y = 5.081328;
-     x = 1.11;
-     angle = 0;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-    }
-    }
-    
   }
 
   // Called once the command ends or is interrupted.
@@ -105,6 +113,6 @@ public class GrimperReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
+    return (y-boty < 0.1 && y-boty >-0.1) && (x-botx < 0.1 && x-botx > -0.1);
   }
 }

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

@@ -54,13 +54,18 @@ public class TournerVersReservoir extends Command {
       angle = 0;
     } 
     }
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10){
+      drivetrain.setControl(drive.withRotationalRate(0));
+    }
+    else{
     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
+      drivetrain.setControl(drive.withRotationalRate(-force*2));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
+      drivetrain.setControl(drive.withRotationalRate(force*2));
     }
   }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
@@ -69,6 +74,6 @@ public class TournerVersReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
   }
 }

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

@@ -42,6 +42,6 @@ public class MonterGrimpeur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return Math.abs(grimpeur.Position()) > grimpeur.PositionFinal();
   }
 }