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dashboard bien

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This commit is contained in:
samuel desharnais 2025-03-01 09:17:17 -05:00
parent 7e142a9425
commit 8f9519e5bb
5 changed files with 53 additions and 68 deletions
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19
src/main/java/frc/robot/commands/Elevateur/L2.java
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@ -3,11 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands.Elevateur;
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;
@ -15,13 +11,6 @@ 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("encodeurelevateurbasL2").subscribe(-1);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurelevateurhautL2").subscribe(-0.9);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL2").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpinceautL2").subscribe(-0.9);
/** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@ -37,14 +26,10 @@ public class L2 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();
if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
if(elevateur.position()<=elevateur.encodeurelevateurL2bas() && elevateur.position()>=elevateur.encodeurelevateurL2haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=encodeurbase){
else if(elevateur.position()>=elevateur.encodeurelevateurL2bas()){
elevateur.vitesse(-0.2);
}
else{

17
src/main/java/frc/robot/commands/Elevateur/L3.java
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@ -4,9 +4,6 @@
package frc.robot.commands.Elevateur;
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;
@ -16,12 +13,6 @@ 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("encodeurhautL3").subscribe(-2.9);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurbasL3").subscribe(-3);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL3").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL3").subscribe(-0.9);
/** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@ -37,14 +28,10 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double encodeurHaute = encodeur1.get();
double encodeurBase = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-encodeurHaute){
else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
elevateur.vitesse(-0.2);
}
else{

22
src/main/java/frc/robot/commands/Elevateur/L4.java
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@ -4,13 +4,7 @@
package frc.robot.commands.Elevateur;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.DoubleTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
@ -18,18 +12,10 @@ 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 DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
/** Creates a new L2. */
public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
encodeur1topic.setPersistent(true);
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -41,14 +27,10 @@ public class L4 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();
if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=encodeurhaute){
else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
elevateur.vitesse(-0.2);
}
else{

17
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@ -4,9 +4,6 @@
package frc.robot.commands.Elevateur;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
@ -18,12 +15,6 @@ public class StationPince extends Command {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
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;
@ -39,15 +30,11 @@ 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()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
if(pince.encodeurpivot()<=elevateur.encodeurelevateurstationbas() && pince.encodeurpivot()>=elevateur.encodeurelevateurstationhaut()){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=encodeurBase){
else if(pince.encodeurpivot()>=elevateur.encodeurelevateurstationbas()){
pince.pivote(0.2);
}
else{

46
src/main/java/frc/robot/subsystems/Elevateur.java
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@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@ -12,8 +13,25 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
public class Elevateur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
/** Creates a new Elevateur. */
private GenericEntry encodeurelevateurL2bas =
teb.add("encodeurelevateurL2bas", -1).getEntry();
private GenericEntry encodeurelevateurL2haut =
teb.add("encodeurelevateurL2haut", -0.9).getEntry();
private GenericEntry encodeurelevateurL3bas =
teb.add("ncodeurelevateurL3bas", -2.9).getEntry();
private GenericEntry encodeurelevateurL3haut =
teb.add("encodeurelevateurL3haut", -0.9).getEntry();
private GenericEntry encodeurelevateurL4bas =
teb.add("encodeurelevateurL4bas", -0.9).getEntry();
private GenericEntry encodeurelevateurL4haut =
teb.add("encodeurelevateurL4haut", -0.9).getEntry();
private GenericEntry encodeurelevateurstationbas =
teb.add("encodeurelevateursationbas", -0.9).getEntry();
private GenericEntry encodeurelevateurstationhaut =
teb.add("encodeurelevateursationhaut", -0.9).getEntry();
public Elevateur() {
teb.addDouble("encodeur elevateur",this::position);
teb.addDouble("encodeur elevateur L2 haut",this::position);
teb.addBoolean("limit elevateur", this::limit2);
}
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
@ -22,6 +40,7 @@ public class Elevateur extends SubsystemBase {
public double position(){
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
if (limit2()) {
if (vitesse > 0) {
@ -41,6 +60,31 @@ public class Elevateur extends SubsystemBase {
public void reset(){
monte.getEncoder().setPosition(0);
}
public double encodeurelevateurL2bas(){
return encodeurelevateurL2bas.getDouble(-1);
}
public double encodeurelevateurL2haut(){
return encodeurelevateurL2haut.getDouble(-0.9);
}
public double encodeurelevateurL3bas(){
return encodeurelevateurL3bas.getDouble(-2.9);
}
public double encodeurelevateurL3haut(){
return encodeurelevateurL3haut.getDouble(-3);
}
public double encodeurelevateurL4bas(){
return encodeurelevateurL4bas.getDouble(-6.4);
}
public double encodeurelevateurL4haut(){
return encodeurelevateurL4haut.getDouble(-6.5);
}
public double encodeurelevateurstationbas(){
return encodeurelevateurstationbas.getDouble(-0.5);
}
public double encodeurelevateurstationhaut(){
return encodeurelevateurstationhaut.getDouble(-0.4);
}
@Override
public void periodic() {
// This method will be called once per scheduler run