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pince+elevateur

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This commit is contained in:
Antoine PerreaultE 2025-01-29 18:55:06 -05:00
parent eece0f47fa
commit 1f17aaf4de
7 changed files with 55 additions and 160 deletions
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16
src/main/java/frc/robot/command/Depart.java
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@ -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.

18
src/main/java/frc/robot/command/L2.java
View File

@ -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.

49
src/main/java/frc/robot/command/L2Pince.java
View File

@ -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;
}
}

17
src/main/java/frc/robot/command/L3.java
View File

@ -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.

49
src/main/java/frc/robot/command/L3Pince.java
View File

@ -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;
}
}

17
src/main/java/frc/robot/command/L4.java
View File

@ -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.

49
src/main/java/frc/robot/command/L4Pince.java
View File

@ -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;
}
}