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This commit is contained in:
Antoine PerreaultE
2025-03-01 14:53:24 -05:00
parent d1f9d55c3a
commit 300c177ae0
7 changed files with 24 additions and 95 deletions
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35
src/main/java/frc/robot/RobotContainer.java
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@@ -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() {

6
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
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@@ -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);
}
}

2
src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
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@@ -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);

5
src/main/java/frc/robot/commands/requin/ExpireAlgue.java → src/main/java/frc/robot/commands/requin/ExpireCorail.java
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@@ -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);

11
src/main/java/frc/robot/commands/requin/L1Requin.java
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@@ -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.

51
src/main/java/frc/robot/commands/requin/aspire.java
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@@ -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;
}
}

9
src/main/java/frc/robot/commands/requin/exspire.java
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@@ -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.