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Limit swich elevateur + limit switch pince (testé en simulation-Fonctionne)

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This commit is contained in:
Antoine PerreaultE
2025-02-27 19:22:36 -05:00
parent d7a887571a
commit 280270245e
6 changed files with 31 additions and 99 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@@ -133,7 +133,7 @@ public class RobotContainer {
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
}, pince));
//Elevateur manuel

5
src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java
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@@ -28,7 +28,10 @@ public class ElevateurManuel extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (elevateur.limit2())
if (elevateur.limit2()){
}
elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
}

41
src/main/java/frc/robot/commands/Pince/Algue1Test.java
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@@ -1,41 +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.commands.Pince;
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 Algue1Test extends Command {
private Pince pince;
/** Creates a new AlgueTest. */
public Algue1Test(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() {
pince.algue1Test(0.2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.algue1Test(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/Pince/Algue2Test.java
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@@ -1,41 +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.commands.Pince;
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 Algue2Test extends Command {
private Pince pince;
/** Creates a new AlgueTest. */
public Algue2Test(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() {
pince.algue2Test(0.2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.algue2Test(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

14
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -3,8 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -25,7 +23,17 @@ public class Elevateur extends SubsystemBase {
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
monte.set(vitesse);
if (limit2()) {
if (vitesse > 0) {
monte.set(0);
}
else{
monte.set(vitesse);
}
}
else{
monte.set(vitesse);
}
}
public boolean limit2(){
return limit2.get();

27
src/main/java/frc/robot/subsystems/Pince.java
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@@ -6,8 +6,6 @@ package frc.robot.subsystems;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -27,11 +25,21 @@ public class Pince extends SubsystemBase {
final DigitalInput limit6 = new DigitalInput(9);
public void aspirecoral(double vitesse){
coral.set(vitesse);
}
public void aspirecoral(double vitesse){
coral.set(vitesse);
}
public void pivote(double vitesse){
pivoti.set(vitesse);
if (position()) {
if (vitesse > 0) {
pivoti.set(0);
}
else{
pivoti.set(vitesse);
}
}
else{
pivoti.set(vitesse);
}
}
public void aspirealgue(double vitesse){
algue2.set(-vitesse);
@@ -52,12 +60,7 @@ public double emperagecoral(){
public double emperagealgue(){
return algue1.getOutputCurrent();
}
public void algue1Test(double vitesse){
algue1.set(vitesse);
}
public void algue2Test(double vitesse){
algue2.set(vitesse);
}
@Override
public void periodic() {
// This method will be called once per scheduler run