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Merge branch 'requin' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Antoine PerreaultE
2025-02-27 18:37:29 -05:00
parent b676cf353f abb6d113d0
commit 105447c4ad
11 changed files with 508 additions and 2 deletions
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63
src/main/java/frc/robot/commands/BalayeuseAlgue.java Normal file
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// 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;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Requin;
/* 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 BalayeuseAlgue extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseAlgue(Requin requin, Bougie bougie) {
this.requin = requin;
this.bougie =bougie;
addRequirements(requin,bougie);
// 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() {
if(requin.encodeur()>=500 && requin.encodeur()<=510)
{
requin.rotationer(0);
if(requin.amp()> 60){
requin.balaye(0);
bougie.Vert();
}
else
{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=510){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

40
src/main/java/frc/robot/commands/BalayeuseBas.java Normal file
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// 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;
import frc.robot.subsystems.Requin;
/* 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 BalayeuseBas extends Command {
private Requin requin;
/** Creates a new Balayeuse. */
public BalayeuseBas(Requin requin) {
this.requin = requin;
addRequirements(requin);
// 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() {
requin.rotationer(-0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

67
src/main/java/frc/robot/commands/BalayeuseCoral.java Normal file
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// 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;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Requin;
/* 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 BalayeuseCoral extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseCoral(Requin requin, Bougie bougie) {
this.requin = requin;
this.bougie = bougie;
addRequirements(requin,bougie);
// 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() {
if(requin.encodeur()>=100 && requin.encodeur()<=110){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(0);
bougie.Vert();
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(0.5);
}
}
else{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=110){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

47
src/main/java/frc/robot/commands/BalayeuseHaut.java Normal file
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// 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;
import frc.robot.subsystems.Requin;
/* 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 BalayeuseHaut extends Command {
private Requin requin;
/** Creates a new Balayeuse. */
public BalayeuseHaut(Requin requin) {
this.requin = requin;
addRequirements(requin);
// 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() {
if(requin.enHaut()==true){
requin.rotationer(0);
requin.reset();
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/ExpireAlgue.java Normal file
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// 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;
import frc.robot.subsystems.Requin;
/* 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 ExpireAlgue extends Command {
private Requin requin;
/** Creates a new ExpireAlgue. */
public ExpireAlgue(Requin requin) {
this.requin = requin;
addRequirements(requin);
// 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() {
requin.balaye(0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

65
src/main/java/frc/robot/commands/L1Requin.java Normal file
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// 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;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Requin;
/* 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 L1Requin extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public L1Requin(Requin requin,Bougie bougie) {
this.requin = requin;
this.bougie = bougie;
addRequirements(requin,bougie);
// 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() {
if(requin.encodeur()>=800 && requin.encodeur()<=810){
requin.rotationer(0);
if(requin.amp()>8){
requin.balaye(-0.5);
}
else{
requin.balaye(0);
bougie.Rouge();
}
}
else if(requin.encodeur()>=810){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/aspire.java Normal file
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// 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;
import frc.robot.subsystems.Requin;
/* 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 aspire extends Command {
/** Creates a new aspire. */
private Requin requin;
public aspire(Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.requin = requin;
addRequirements(requin);
}
// 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() {
requin.balaye(0.3);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/exspire.java Normal file
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// 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;
import frc.robot.subsystems.Requin;
/* 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 exspire extends Command {
/** Creates a new aspire. */
private Requin requin;
public exspire(Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.requin = requin;
addRequirements(requin);
}
// 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() {
requin.balaye(-0.3);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

49
src/main/java/frc/robot/commands/requin_manuel.java Normal file
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// 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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Requin;
/* 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 requin_manuel extends Command {
/** Creates a new requin_manuel. */
private Requin requin;
private DoubleSupplier x;
public requin_manuel(Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.requin = requin;
addRequirements(requin);
}
// 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() {
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(x.getAsDouble());
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}