From 7be5f8c2fcb5954e9d0915c0f8482fb7611d4166 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 22 Feb 2025 14:46:41 -0500 Subject: [PATCH] pince --- src/main/java/frc/robot/RobotContainer.java | 11 +++-- .../java/frc/robot/commands/DepartPince.java | 2 +- src/main/java/frc/robot/commands/L2.java | 4 +- src/main/java/frc/robot/commands/L3.java | 4 +- src/main/java/frc/robot/commands/L4.java | 4 +- .../java/frc/robot/commands/PinceManuel.java | 8 ++-- .../java/frc/robot/commands/PinceManuel2.java | 48 +++++++++++++++++++ .../java/frc/robot/commands/StationPince.java | 4 +- .../java/frc/robot/subsystems/Elevateur.java | 2 +- src/main/java/frc/robot/subsystems/Pince.java | 2 +- 10 files changed, 71 insertions(+), 18 deletions(-) create mode 100644 src/main/java/frc/robot/commands/PinceManuel2.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4bba20b..5ec0c08 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -20,6 +20,7 @@ import frc.robot.commands.L2; import frc.robot.commands.L3; import frc.robot.commands.L4; import frc.robot.commands.PinceManuel; +import frc.robot.commands.PinceManuel2; import frc.robot.commands.StationPince; import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Pince; @@ -32,14 +33,15 @@ public class RobotContainer { Pince pince = new Pince(); Elevateur elevateur = new Elevateur(); ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY); - PinceManuel pinceManuel = new PinceManuel(pince, manette2::getRightY); + PinceManuel pinceManuel = new PinceManuel(pince); + PinceManuel2 pinceManuel2 = new PinceManuel2(pince); public RobotContainer() { configureBindings(); elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2)); }, elevateur)); pince.setDefaultCommand(new RunCommand(()->{ - pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.2)); + pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2)); }, pince)); NamedCommands.registerCommand("Station",new StationPince(pince, elevateur)); NamedCommands.registerCommand("L4", new L4(elevateur, pince)); @@ -59,8 +61,9 @@ public class RobotContainer { manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightBumper().whileTrue(new StationPince(pince, elevateur)); //manette2 - manette2.leftTrigger().toggleOnTrue(new AlgueExpire(pince, bougie)); - + manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); + manette2.povUp().whileTrue(new PinceManuel(pince)); + manette2.povDown().whileTrue(new PinceManuel2(pince)); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/DepartPince.java b/src/main/java/frc/robot/commands/DepartPince.java index a8c621e..12a69dd 100644 --- a/src/main/java/frc/robot/commands/DepartPince.java +++ b/src/main/java/frc/robot/commands/DepartPince.java @@ -29,7 +29,7 @@ public class DepartPince extends Command { pince.reset(); } else{ - pince.pivote(.5); + pince.pivote(.2); } } diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java index 8cca282..abae929 100644 --- a/src/main/java/frc/robot/commands/L2.java +++ b/src/main/java/frc/robot/commands/L2.java @@ -42,10 +42,10 @@ public class L2 extends Command { } else if(pince.encodeurpivot()>=510){ - pince.pivote(-0.3); + pince.pivote(-0.2); } else{ - pince.pivote(0.3); + pince.pivote(0.2); } } diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java index c92e442..8786079 100644 --- a/src/main/java/frc/robot/commands/L3.java +++ b/src/main/java/frc/robot/commands/L3.java @@ -41,10 +41,10 @@ public class L3 extends Command { pince.pivote(0); } else if(pince.encodeurpivot()>=710){ - pince.pivote(-0.5); + pince.pivote(-0.2); } else{ - pince.pivote(0.5); + pince.pivote(0.2); } } diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java index f32bf81..7794fc3 100644 --- a/src/main/java/frc/robot/commands/L4.java +++ b/src/main/java/frc/robot/commands/L4.java @@ -41,10 +41,10 @@ public class L4 extends Command { pince.pivote(0); } else if(pince.encodeurpivot()>=810){ - pince.pivote(-0.5); + pince.pivote(-0.2); } else{ - pince.pivote(0.5); + pince.pivote(0.2); } } diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/PinceManuel.java index b30eed5..164fd42 100644 --- a/src/main/java/frc/robot/commands/PinceManuel.java +++ b/src/main/java/frc/robot/commands/PinceManuel.java @@ -14,9 +14,11 @@ public class PinceManuel extends Command { private Pince pince; private DoubleSupplier doubleSupplier; /** Creates a new PinceManuel. */ - public PinceManuel(Pince pince, DoubleSupplier doubleSupplier) { + public PinceManuel(Pince pince + //, DoubleSupplier doubleSupplier + ) { this.pince = pince; - this.doubleSupplier = doubleSupplier; + //this.doubleSupplier = doubleSupplier; addRequirements(pince); // Use addRequirements() here to declare subsystem dependencies. } @@ -32,7 +34,7 @@ public class PinceManuel extends Command { pince.pivote(0); } else{ - pince.pivote(doubleSupplier.getAsDouble()); + pince.pivote(0.2); } } diff --git a/src/main/java/frc/robot/commands/PinceManuel2.java b/src/main/java/frc/robot/commands/PinceManuel2.java new file mode 100644 index 0000000..03edffa --- /dev/null +++ b/src/main/java/frc/robot/commands/PinceManuel2.java @@ -0,0 +1,48 @@ +// 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; + +import java.util.function.DoubleSupplier; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Pince; + +/* 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 PinceManuel2 extends Command { + private Pince pince; + //private DoubleSupplier doubleSupplier; + /** Creates a new PinceManuel. */ + public PinceManuel2(Pince pince + + //,DoubleSupplier doubleSupplier + ) { + this.pince = pince; + // this.doubleSupplier = doubleSupplier; + addRequirements(pince); + // Use addRequirements() here to declare subsystem dependencies. + } + + // 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() { + + pince.pivote(-0.2); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/StationPince.java b/src/main/java/frc/robot/commands/StationPince.java index 1bd807d..9e11f99 100644 --- a/src/main/java/frc/robot/commands/StationPince.java +++ b/src/main/java/frc/robot/commands/StationPince.java @@ -33,10 +33,10 @@ public class StationPince extends Command { pince.pivote(0); } else if(pince.encodeurpivot()>=910){ - pince.pivote(-0.5); + pince.pivote(-0.2); } else{ - pince.pivote(0.5); + pince.pivote(0.2); } if(elevateur.position()>=400 && elevateur.position()<=410){ elevateur.vitesse(0); diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java index 8caad7a..2efe36e 100644 --- a/src/main/java/frc/robot/subsystems/Elevateur.java +++ b/src/main/java/frc/robot/subsystems/Elevateur.java @@ -11,7 +11,7 @@ import com.revrobotics.spark.SparkLowLevel.MotorType; public class Elevateur extends SubsystemBase { /** Creates a new Elevateur. */ public Elevateur() {} - final SparkMax monte = new SparkMax(3, MotorType.kBrushless); + final SparkMax monte = new SparkMax(22, MotorType.kBrushless); final DigitalInput limit2 = new DigitalInput(1); public double position(){ return monte.getEncoder().getPosition(); diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java index 22b50ed..2428fbd 100644 --- a/src/main/java/frc/robot/subsystems/Pince.java +++ b/src/main/java/frc/robot/subsystems/Pince.java @@ -17,7 +17,7 @@ public class Pince extends SubsystemBase { final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless); final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless); final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless); - final DigitalInput limit6 = new DigitalInput(2); + final DigitalInput limit6 = new DigitalInput(0); public void aspirecoral(double vitesse){ coral.set(vitesse); }