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This commit is contained in:
Antoine PerreaultE
2025-02-20 20:10:58 -05:00
parent dc36eea320
commit 29227dd2f6
5 changed files with 84 additions and 34 deletions
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30
src/main/java/frc/robot/commands/BalayeuseAlgue.java
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@@ -27,23 +27,23 @@ public class BalayeuseAlgue extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
// if(requin.encodeur()>=500 && requin.encodeur()<=510){ if(requin.encodeur()>=500 && requin.encodeur()<=510){
// requin.rotationer(0); requin.rotationer(0);
// if(requin.stop()){ if(requin.stop()){
// requin.balaye(0); requin.balaye(0);
// bougie.Vert(); bougie.Vert();
// } }
// else{ else{
requin.balaye(0.5); requin.balaye(0.5);
// } }
// } }
// else if(requin.encodeur()>=510){ else if(requin.encodeur()>=510){
// requin.rotationer(0.5); requin.rotationer(0.5);
// } }
// else{ else{
// requin.rotationer(-0.5); requin.rotationer(-0.5);
// } }
} }

38
src/main/java/frc/robot/commands/BalayeuseCoral.java
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@@ -27,24 +27,30 @@ public class BalayeuseCoral extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
// if(requin.encodeur()>=100 && requin.encodeur()<=110){ if(requin.encodeur()>=100 && requin.encodeur()<=110){
// requin.rotationer(0); requin.rotationer(0);
// if(requin.stop()){ if(requin.amp()>8){
requin.balaye(0.5); requin.balaye(0);
// bougie.Vert(); bougie.Vert();
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(0.5);
}
} }
// else{ else{
// requin.balaye(0.5); requin.balaye(0.5);
// } }
// } }
// else if(requin.encodeur()>=110){ else if(requin.encodeur()>=110){
// requin.rotationer(0.5); requin.rotationer(0.5);
// } }
// else{ else{
// requin.rotationer(-0.5); requin.rotationer(-0.5);
// } }
// } }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override

40
src/main/java/frc/robot/commands/ExpireAlgue.java Normal file
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@@ -0,0 +1,40 @@
// 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;
// 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;
}
}

5
src/main/java/frc/robot/commands/L1Requin.java
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@@ -27,13 +27,14 @@ public class L1Requin extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(requin.encodeur()>=800 && requin.encodeur()<=810){ if(requin.encodeur()>=800 && requin.encodeur()<=810){
requin.rotationer(0); requin.rotationer(0);
if(requin.stop()){ if(requin.amp()>8){
requin.balaye(-0.5); requin.balaye(-0.5);
} }
else{ else{
requin.balaye(-0.5); requin.balaye(0);
bougie.Rouge(); bougie.Rouge();
} }
} }

5
src/main/java/frc/robot/subsystems/Requin.java
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@@ -15,7 +15,7 @@ public class Requin extends SubsystemBase {
/** Creates a new Requin. */ /** Creates a new Requin. */
public Requin() {} public Requin() {}
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(4); final DigitalInput limit3 = new DigitalInput(4);
final DigitalInput limit5 = new DigitalInput(5); final DigitalInput limit5 = new DigitalInput(5);
public void balaye(double vitesse){ public void balaye(double vitesse){
@@ -36,6 +36,9 @@ public class Requin extends SubsystemBase {
public void reset(){ public void reset(){
rotatione.getEncoder().setPosition(0); rotatione.getEncoder().setPosition(0);
} }
public double amp(){
return balaye.getOutputCurrent();
}
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run