PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Antoine PerreaultE 2025-03-01 15:28:12 -05:00
commit 37452f0b05
3 changed files with 16 additions and 7 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -97,7 +97,7 @@ public class RobotContainer {
SmartDashboard.putData("Auto Mode", autoChooser); SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings(); configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null)); NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur)); NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
NamedCommands.registerCommand("L4", new L4(elevateur, pince)); NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince)); NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie)); NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
@ -121,7 +121,7 @@ public class RobotContainer {
//pince //pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur)); manette1.rightBumper().whileTrue(new StationPince(pince, elevateur,bougie));
manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie)); manette1.povRight().whileTrue(new CoralExpire(pince, bougie));

15
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@ -7,6 +7,7 @@ package frc.robot.commands.Elevateur;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
@ -15,11 +16,13 @@ public class StationPince extends Command {
ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardTab teb = Shuffleboard.getTab("teb");
private Pince pince; private Pince pince;
private Elevateur elevateur; private Elevateur elevateur;
private Bougie bougie;
/** Creates a new L2Pince. */ /** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) { public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; this.pince = pince;
addRequirements(pince,elevateur); this.bougie = bougie;
addRequirements(pince,elevateur, bougie);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -30,7 +33,13 @@ public class StationPince 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() {
pince.aspirecoral(0.5); if(pince.emperagecoral() > 60){
pince.aspirecoral(0);bougie.Bleu();
}
else{
pince.aspirecoral(0.5);
}
if(pince.encodeurpivot()<=11 && pince.encodeurpivot()>=12.6){ if(pince.encodeurpivot()<=11 && pince.encodeurpivot()>=12.6){
pince.pivote(0); pince.pivote(0);
} }

4
src/main/java/frc/robot/subsystems/Elevateur.java
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@ -24,7 +24,7 @@ public class Elevateur extends SubsystemBase {
private GenericEntry encodeurelevateurL4bas = private GenericEntry encodeurelevateurL4bas =
teb.add("encodeurelevateurL4bas", -6.6).getEntry(); teb.add("encodeurelevateurL4bas", -6.6).getEntry();
private GenericEntry encodeurelevateurL4haut = private GenericEntry encodeurelevateurL4haut =
teb.add("encodeurelevateurL4haut", -6.3).getEntry(); teb.add("encodeurelevateurL4haut", -6.2).getEntry();
private GenericEntry encodeurelevateurstationbas = private GenericEntry encodeurelevateurstationbas =
teb.add("encodeurelevateursationbas", -0.5).getEntry(); teb.add("encodeurelevateursationbas", -0.5).getEntry();
private GenericEntry encodeurelevateurstationhaut = private GenericEntry encodeurelevateurstationhaut =
@ -76,7 +76,7 @@ public class Elevateur extends SubsystemBase {
return encodeurelevateurL4bas.getDouble(-6.6); return encodeurelevateurL4bas.getDouble(-6.6);
} }
public double encodeurelevateurL4haut(){ public double encodeurelevateurL4haut(){
return encodeurelevateurL4haut.getDouble(-6.3); return encodeurelevateurL4haut.getDouble(-6.2);
} }
public double encodeurelevateurstationbas(){ public double encodeurelevateurstationbas(){
return encodeurelevateurstationbas.getDouble(-0.5); return encodeurelevateurstationbas.getDouble(-0.5);