From 300c177ae0bb8a129b47cffec9f929332a0f16a1 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 1 Mar 2025 14:53:24 -0500 Subject: [PATCH] touche --- src/main/java/frc/robot/RobotContainer.java | 35 +++++++------ .../robot/commands/requin/BalayeuseAlgue.java | 6 +-- .../robot/commands/requin/BalayeuseCoral.java | 2 +- .../{ExpireAlgue.java => ExpireCorail.java} | 5 +- .../frc/robot/commands/requin/L1Requin.java | 11 ---- .../frc/robot/commands/requin/aspire.java | 51 ------------------- .../frc/robot/commands/requin/exspire.java | 9 +--- 7 files changed, 24 insertions(+), 95 deletions(-) rename src/main/java/frc/robot/commands/requin/{ExpireAlgue.java => ExpireCorail.java} (93%) delete mode 100644 src/main/java/frc/robot/commands/requin/aspire.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 471fa8c..0897ce9 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -49,10 +49,8 @@ import frc.robot.commands.requin.BalayeuseAlgue; import frc.robot.commands.requin.BalayeuseBas; import frc.robot.commands.requin.BalayeuseCoral; import frc.robot.commands.requin.BalayeuseHaut; -import frc.robot.commands.requin.ExpireAlgue; +import frc.robot.commands.requin.ExpireCorail; import frc.robot.commands.requin.L1Requin; -import frc.robot.commands.requin.aspire; -import frc.robot.commands.requin.exspire; import frc.robot.subsystems.Bougie; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.Elevateur; @@ -61,6 +59,7 @@ import frc.robot.subsystems.Limelight3; import frc.robot.subsystems.Limelight3G; import frc.robot.subsystems.Pince; import frc.robot.subsystems.Requin; +import frc.robot.commands.requin.exspire; public class RobotContainer { private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed @@ -123,9 +122,9 @@ public class RobotContainer { //pince manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightBumper().whileTrue(new StationPince(pince, elevateur)); - manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie)); + manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); - manette1.povRight().whileTrue(new AlgueExpire(pince, bougie)); + manette1.povRight().whileTrue(new CoralExpire(pince, bougie)); //elevateur manette1.a().whileTrue(new Depart(elevateur, pince)); manette1.b().whileTrue(new L2(elevateur,pince)); @@ -133,15 +132,21 @@ public class RobotContainer { manette1.y().whileTrue(new L4(elevateur, pince)); /* Manette 2 */ - //requin manette2.a().whileTrue(new CorailAspir(pince,bougie)); manette2.b().whileTrue(new Algue_inspire(pince,bougie)); - manette2.y().whileTrue(new BalayeuseAlgue(requin,bougie)); - manette2.x().whileTrue(new BalayeuseHaut(requin)); - manette2.rightTrigger().whileTrue(new ExpireAlgue(requin, bougie)); + //requin + manette2.rightBumper().whileTrue(new BalayeuseAlgue(requin,bougie)); + manette2.leftBumper().whileTrue(new L1Requin(requin, bougie)); + manette2.rightTrigger().whileTrue(new BalayeuseHaut(requin)); manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie)); - manette1.povUp().whileTrue(new L1Requin(requin, bougie)); - manette2.povUp().whileTrue(new aspire(requin, bougie)); + manette2.y().whileTrue(new exspire(requin, bougie)); + manette2.x().whileTrue(new ExpireCorail(requin, bougie)); + + + //grimpeur + manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie)); + manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie)); + manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur)); //Pince manuel pince.setDefaultCommand(new RunCommand(()->{ pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05)); @@ -153,15 +158,9 @@ public class RobotContainer { }, elevateur)); //limelight - manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); - manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); - + manette2.povUp().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); //Reset encodeur manette2.start().whileTrue(new reset(elevateur, pince)); - //grimpeur - manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie)); - manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie)); - manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur)); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java index 5f9ce05..da18a74 100644 --- a/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java @@ -27,7 +27,7 @@ public class BalayeuseAlgue extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.encodeur()<=715 && requin.encodeur()>=700) + if(requin.encodeur()<=715 && requin.encodeur()>=670) { requin.rotationer(0); if(requin.amp()> 60){ @@ -40,10 +40,10 @@ public class BalayeuseAlgue extends Command { } } else if(requin.encodeur()>=700){ - requin.rotationer(0.5); + requin.rotationer(-0.5); } else{ - requin.rotationer(-0.5); + requin.rotationer(0.5); } } diff --git a/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java b/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java index 3cb837f..5b8b3c6 100644 --- a/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java @@ -27,7 +27,7 @@ public class BalayeuseCoral extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.encodeur()<=1200 && requin.encodeur()>=1050){ + if(requin.encodeur()<=1200 && requin.encodeur()>=1025){ requin.rotationer(0); if(requin.amp()>60){ requin.balaye(0); diff --git a/src/main/java/frc/robot/commands/requin/ExpireAlgue.java b/src/main/java/frc/robot/commands/requin/ExpireCorail.java similarity index 93% rename from src/main/java/frc/robot/commands/requin/ExpireAlgue.java rename to src/main/java/frc/robot/commands/requin/ExpireCorail.java index 3866d3b..c206644 100644 --- a/src/main/java/frc/robot/commands/requin/ExpireAlgue.java +++ b/src/main/java/frc/robot/commands/requin/ExpireCorail.java @@ -9,12 +9,11 @@ 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 ExpireAlgue extends Command { +public class ExpireCorail extends Command { private Requin requin; private Bougie bougie; /** Creates a new ExpireAlgue. */ - public ExpireAlgue(Requin requin, Bougie bougie - ) { + public ExpireCorail(Requin requin, Bougie bougie) { this.requin = requin; this.bougie = bougie; addRequirements(requin,bougie); diff --git a/src/main/java/frc/robot/commands/requin/L1Requin.java b/src/main/java/frc/robot/commands/requin/L1Requin.java index 23a73f6..73e3bac 100644 --- a/src/main/java/frc/robot/commands/requin/L1Requin.java +++ b/src/main/java/frc/robot/commands/requin/L1Requin.java @@ -30,13 +30,6 @@ public class L1Requin extends Command { if(requin.encodeur()<=645 && requin.encodeur()>=600){ requin.rotationer(0); - if(requin.amp()>60){ - requin.balaye(-0.5); - } - else{ - requin.balaye(0); - bougie.Rouge(); - } } else if(requin.encodeur()>=645){ requin.rotationer(-0.5); @@ -44,10 +37,6 @@ public class L1Requin extends Command { else{ requin.rotationer(0.5); } - - - - } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/requin/aspire.java b/src/main/java/frc/robot/commands/requin/aspire.java deleted file mode 100644 index 3be18f1..0000000 --- a/src/main/java/frc/robot/commands/requin/aspire.java +++ /dev/null @@ -1,51 +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.requin; - -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 aspire extends Command { - /** Creates a new aspire. */ - private Requin requin; - private Bougie bougie; - public aspire(Requin requin, Bougie bougie) { - // Use addRequirements() here to declare subsystem dependencies. - this.requin = requin; - this.bougie = bougie; - addRequirements(requin, bougie); - } - - // 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.amp()> 60){ - requin.balaye(0); - bougie.Vert(); - } - else - { - 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; - } -} diff --git a/src/main/java/frc/robot/commands/requin/exspire.java b/src/main/java/frc/robot/commands/requin/exspire.java index 12ee35d..4517611 100644 --- a/src/main/java/frc/robot/commands/requin/exspire.java +++ b/src/main/java/frc/robot/commands/requin/exspire.java @@ -29,14 +29,7 @@ public class exspire extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.amp()> 60){ - requin.balaye(0.5); - } - else - { - bougie.Rouge(); - requin.balaye(0.5); - } + requin.balaye(0.5); } // Called once the command ends or is interrupted.