From 1f17aaf4de27b582d69b0413ae9fed785abe18ef Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Jan 2025 18:55:06 -0500 Subject: [PATCH] pince+elevateur --- src/main/java/frc/robot/command/Depart.java | 16 ++++--- src/main/java/frc/robot/command/L2.java | 18 +++++-- src/main/java/frc/robot/command/L2Pince.java | 49 -------------------- src/main/java/frc/robot/command/L3.java | 17 ++++++- src/main/java/frc/robot/command/L3Pince.java | 49 -------------------- src/main/java/frc/robot/command/L4.java | 17 ++++++- src/main/java/frc/robot/command/L4Pince.java | 49 -------------------- 7 files changed, 55 insertions(+), 160 deletions(-) delete mode 100644 src/main/java/frc/robot/command/L2Pince.java delete mode 100644 src/main/java/frc/robot/command/L3Pince.java delete mode 100644 src/main/java/frc/robot/command/L4Pince.java diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/command/Depart.java index 0980101..5a9f11e 100644 --- a/src/main/java/frc/robot/command/Depart.java +++ b/src/main/java/frc/robot/command/Depart.java @@ -6,16 +6,17 @@ package frc.robot.command; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Elevateur; +import frc.robot.subsystems.Pince; /* 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 Depart extends Command { private Elevateur elevateur; private Pince pince; /** Creates a new L2. */ - public Depart(Elevateur elevateur) { - + public Depart(Elevateur elevateur, Pince pince) { + this.pince = pince; this.elevateur = elevateur; - addRequirements(elevateur); + addRequirements(elevateur,pince); // Use addRequirements() here to declare subsystem dependencies. } @@ -33,12 +34,14 @@ public class Depart extends Command { else{ elevateur.vitesse(-.5); } - if(pince.position()==true){ + if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){ pince.pivote(0); - pince.reset(); + } + else if(pince.encodeurpivot()>=910){ + pince.pivote(-0.5); } else{ - pince.pivote(.5); + pince.pivote(0.5); } } @@ -46,6 +49,7 @@ public class Depart extends Command { @Override public void end(boolean interrupted) { elevateur.vitesse(0); + pince.pivote(0); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java index 8f7287a..dea2746 100644 --- a/src/main/java/frc/robot/command/L2.java +++ b/src/main/java/frc/robot/command/L2.java @@ -6,14 +6,17 @@ package frc.robot.command; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Elevateur; +import frc.robot.subsystems.Pince; /* 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 L2 extends Command { private Elevateur elevateur; + private Pince pince; /** Creates a new L2. */ - public L2(Elevateur elevateur) { + public L2(Elevateur elevateur,Pince pince) { this.elevateur = elevateur; - addRequirements(elevateur); + this.pince = pince; + addRequirements(elevateur,pince); // Use addRequirements() here to declare subsystem dependencies. } @@ -33,13 +36,22 @@ public class L2 extends Command { else{ elevateur.vitesse(.3); } - + if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){ + pince.pivote(0); + } + else if(pince.encodeurpivot()>=510){ + pince.pivote(-0.3); + } + else{ + pince.pivote(0.3); + } } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { elevateur.vitesse(0); + pince.pivote(0); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/command/L2Pince.java b/src/main/java/frc/robot/command/L2Pince.java deleted file mode 100644 index febefc9..0000000 --- a/src/main/java/frc/robot/command/L2Pince.java +++ /dev/null @@ -1,49 +0,0 @@ -// 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.command; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Pince; - -/* 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 L2Pince extends Command { - private Pince pince; - /** Creates a new L2Pince. */ - public L2Pince(Pince pince) { - this.pince = pince; - addRequirements(pince); - // 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(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){ - pince.pivote(0); - } - else if(pince.encodeurpivot()>=510){ - pince.pivote(-0.3); - } - else{ - pince.pivote(0.3); - } - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - pince.pivote(0); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java index 8974af4..e83b28e 100644 --- a/src/main/java/frc/robot/command/L3.java +++ b/src/main/java/frc/robot/command/L3.java @@ -6,14 +6,17 @@ package frc.robot.command; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Elevateur; +import frc.robot.subsystems.Pince; /* 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 L3 extends Command { private Elevateur elevateur; + private Pince pince; /** Creates a new L2. */ - public L3(Elevateur elevateur) { + public L3(Elevateur elevateur,Pince pince) { this.elevateur = elevateur; - addRequirements(elevateur); + this.pince = pince; + addRequirements(elevateur,pince); // Use addRequirements() here to declare subsystem dependencies. } @@ -33,12 +36,22 @@ public class L3 extends Command { else{ elevateur.vitesse(.5); } + if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){ + pince.pivote(0); + } + else if(pince.encodeurpivot()>=710){ + pince.pivote(-0.5); + } + else{ + pince.pivote(0.5); + } } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { elevateur.vitesse(0); + pince.pivote(0); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/command/L3Pince.java b/src/main/java/frc/robot/command/L3Pince.java deleted file mode 100644 index a56a809..0000000 --- a/src/main/java/frc/robot/command/L3Pince.java +++ /dev/null @@ -1,49 +0,0 @@ -// 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.command; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Pince; - -/* 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 L3Pince extends Command { - private Pince pince; - /** Creates a new L2Pince. */ - public L3Pince(Pince pince) { - this.pince = pince; - addRequirements(pince); - // 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(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){ - pince.pivote(0); - } - else if(pince.encodeurpivot()>=710){ - pince.pivote(-0.5); - } - else{ - pince.pivote(0.5); - } - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - pince.pivote(0); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java index a688516..ec79016 100644 --- a/src/main/java/frc/robot/command/L4.java +++ b/src/main/java/frc/robot/command/L4.java @@ -6,14 +6,17 @@ package frc.robot.command; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Elevateur; +import frc.robot.subsystems.Pince; /* 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 L4 extends Command { private Elevateur elevateur; + private Pince pince; /** Creates a new L2. */ - public L4(Elevateur elevateur) { + public L4(Elevateur elevateur,Pince pince) { this.elevateur = elevateur; - addRequirements(elevateur); + this.pince = pince; + addRequirements(elevateur,pince); // Use addRequirements() here to declare subsystem dependencies. } @@ -33,12 +36,22 @@ public class L4 extends Command { else{ elevateur.vitesse(.5); } + if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){ + pince.pivote(0); + } + else if(pince.encodeurpivot()>=810){ + pince.pivote(-0.5); + } + else{ + pince.pivote(0.5); + } } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { elevateur.vitesse(0); + pince.pivote(0); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/command/L4Pince.java b/src/main/java/frc/robot/command/L4Pince.java deleted file mode 100644 index b113b92..0000000 --- a/src/main/java/frc/robot/command/L4Pince.java +++ /dev/null @@ -1,49 +0,0 @@ -// 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.command; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Pince; - -/* 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 L4Pince extends Command { - private Pince pince; - /** Creates a new L2Pince. */ - public L4Pince(Pince pince) { - this.pince = pince; - addRequirements(pince); - // 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(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){ - pince.pivote(0); - } - else if(pince.encodeurpivot()>=810){ - pince.pivote(-0.5); - } - else{ - pince.pivote(0.5); - } - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - pince.pivote(0); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -}