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
2025-02-26 19:49:10 -05:00
parent a5f9a28c6f 6c389731f4
commit 6535047346
5 changed files with 73 additions and 10 deletions
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13
src/main/java/frc/robot/commands/GrimpeurBas.java
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@@ -4,12 +4,19 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Grimpeur;
/* 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 GrimpeurBas extends Command {
private Grimpeur grimpeur;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur grimpeur bas").subscribe(-39.19);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur grimpeur haut ").subscribe(-38.5);
/** Creates a new GrimpeurBas. */
public GrimpeurBas(Grimpeur grimpeur) {
this.grimpeur = grimpeur;
@@ -24,10 +31,12 @@ public class GrimpeurBas extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
double encodeurbas = encodeur1.get();
double encodeurhaut = encodeur2.get();
if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
grimpeur.grimpe(0);
}
else if(grimpeur.encodeur()>=-38.5){
else if(grimpeur.encodeur()>=encodeurhaut){
grimpeur.grimpe(-0.5);
}
else{grimpeur.grimpe(0.5);

19
src/main/java/frc/robot/commands/L2.java
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@@ -4,6 +4,11 @@
package frc.robot.commands;
import java.util.function.DoubleSupplier;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
@@ -13,6 +18,12 @@ import frc.robot.subsystems.Pince;
public class L2 extends Command {
private Elevateur elevateur;
private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur elevateur bas L2").subscribe(-1);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur elevateur haut L2").subscribe(-0.9);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L2").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L2").subscribe(-0.9);
/** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@@ -28,10 +39,14 @@ public class L2 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=-1 && elevateur.position()>=-0.9){
double encodeurbase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-1){
else if(elevateur.position()>=encodeurbase){
elevateur.vitesse(-0.2);
}
else{

17
src/main/java/frc/robot/commands/L3.java
View File

@@ -4,6 +4,9 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
@@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
public class L3 extends Command {
private Elevateur elevateur;
private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur haut L3").subscribe(-2.9);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur bas L3").subscribe(-3);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L3").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L3").subscribe(-0.9);
/** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=-2.9 && elevateur.position()>=-3){
double encodeurHaute = encodeur1.get();
double encodeurBase = encodeur2.get();
double encodeurbase = encodeur3.get();
double encodeurhaute = encodeur4.get();
if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-2.9){
else if(elevateur.position()>=-encodeurHaute){
elevateur.vitesse(-0.2);
}
else{

17
src/main/java/frc/robot/commands/L4.java
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@@ -4,6 +4,9 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
@@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
public class L4 extends Command {
private Elevateur elevateur;
private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas L4").subscribe(-6.4);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut L4").subscribe(-6.5);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L4").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L4").subscribe(-0.9);
/** Creates a new L2. */
public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L4 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=-6.5 && elevateur.position()>=-6.4){
double encodeurBase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-6.5){
else if(elevateur.position()>=encodeurhaute){
elevateur.vitesse(-0.2);
}
else{

17
src/main/java/frc/robot/commands/StationPince.java
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@@ -4,6 +4,9 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
@@ -13,6 +16,12 @@ public class StationPince extends Command {
private Pince pince;
private Elevateur elevateur;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
/** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) {
this.elevateur = elevateur;
@@ -28,11 +37,15 @@ public class StationPince extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double encodeurBase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
pince.aspirecoral(0.5);
if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=910){
else if(pince.encodeurpivot()>=encodeurBase){
pince.pivote(0.2);
}
else{