From 319c370c6e42a96b5c2aa9e7fe880ab2967743d3 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 10 Feb 2025 19:49:13 -0500
Subject: [PATCH] Bougie(pas fini)
---
src/main/java/frc/robot/RobotContainer.java | 25 +++++--------
.../java/frc/robot/commands/CoralExpire.java | 13 +++++--
.../java/frc/robot/commands/CoralInspire.java | 9 +++--
.../java/frc/robot/subsystems/Bougie.java | 37 +++++++++++++++++++
4 files changed, 63 insertions(+), 21 deletions(-)
create mode 100644 src/main/java/frc/robot/subsystems/Bougie.java
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9ae7628..886718b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,14 +4,9 @@
package frc.robot;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.AlgueExpire;
@@ -27,12 +22,12 @@ import frc.robot.commands.L4;
import frc.robot.commands.StationPince;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
- // private final SendableChooser<Command> autoChooser;
+ Bougie bougie = new Bougie();
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,21 +36,21 @@ public class RobotContainer {
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
- /* NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+ NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
- NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
- NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
+ NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
+ NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
- autoChooser = AutoBuilder.buildAutoChooser();*/
+
}
private void configureBindings() {
// manette1
manette1.a().whileTrue(new AlgueExpire(pince));
manette1.b().whileTrue(new CoralAlgueInspire(pince));
- manette1.x().whileTrue(new CoralInspire(pince));
- manette1.y().whileTrue(new CoralExpire(pince));
+ manette1.x().whileTrue(new CoralInspire(pince,bougie));
+ manette1.y().whileTrue(new CoralExpire(pince,bougie));
manette1.povUp().whileTrue(new L4(elevateur, pince));
manette1.povRight().whileTrue(new L2(elevateur, pince));
manette1.povLeft().whileTrue(new L3(elevateur, pince));
@@ -64,8 +59,8 @@ public class RobotContainer {
manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
manette2.a().whileTrue(new StationPince(pince,elevateur));
}
-
+
public Command getAutonomousCommand() {
- return null;// autoChooser.getSelected();
+ return Command()
}
}
diff --git a/src/main/java/frc/robot/commands/CoralExpire.java b/src/main/java/frc/robot/commands/CoralExpire.java
index 8acf1a3..ebb90db 100644
--- a/src/main/java/frc/robot/commands/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/CoralExpire.java
@@ -6,14 +6,16 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
/* 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 CoralExpire extends Command {
private Pince pince;
+ Bougie bougie;
/** Creates a new CoralAlgue. */
- public CoralExpire(Pince pince) {
+ public CoralExpire(Pince pince, Bougie bougie) {
this.pince = pince;
- addRequirements(pince);
+ this.bougie = bougie;
+ addRequirements(pince,bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -24,7 +26,12 @@ public class CoralExpire extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
+ if(pince.emperagecoral() > 8){
+ pince.aspirecoral(-.5);
+ }
+ else{
pince.aspirecoral(-.5);
+ bougie.Rouge();}
}
// Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/CoralInspire.java b/src/main/java/frc/robot/commands/CoralInspire.java
index 80f14b9..5255d2f 100644
--- a/src/main/java/frc/robot/commands/CoralInspire.java
+++ b/src/main/java/frc/robot/commands/CoralInspire.java
@@ -6,14 +6,16 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
/* 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 CoralInspire extends Command {
private Pince pince;
+ Bougie bougie;
/** Creates a new CoralAlgue. */
- public CoralInspire(Pince pince) {
+ public CoralInspire(Pince pince, Bougie bougie) {
this.pince = pince;
- addRequirements(pince);
+ this.bougie = bougie;
+ addRequirements(pince,bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -25,6 +27,7 @@ public class CoralInspire extends Command {
@Override
public void execute() {
if(pince.emperagecoral()>8){
+ bougie.Vert();
pince.aspirecoral(0);
}
else{
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
new file mode 100644
index 0000000..5dfcf91
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -0,0 +1,37 @@
+// 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.subsystems;
+
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Bougie extends SubsystemBase {
+ CANdle candle = new CANdle(5);
+ CANdleConfiguration config = new CANdleConfiguration();
+ RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+ /** Creates a new Bougie. */
+ public Bougie() {
+ config.brightnessScalar = 0.5;
+ candle.configAllSettings(config);
+ }
+ public void Rouge() {
+ candle.setLEDs(255, 0, 0);
+ }
+ public void Vert() {
+ candle.setLEDs(0, 255, 0);
+ }
+ public void Bleu() {
+ candle.setLEDs(0, 0, 255);
+ }
+ public void RainBow(){candle.animate(rainbowAnim);}
+ public void RainBowStop(){candle.animate(null);}
+ @Override
+ public void periodic() {
+ // This method will be called once per scheduler run
+ }
+}