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valeurs encodeurs, sequance, touche, quelque test amperage

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This commit is contained in:
Antoine PerreaultE
2025-03-03 20:32:11 -05:00
parent 263caa4d85
commit 9f4142d7aa
15 changed files with 168 additions and 113 deletions
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58
src/main/java/frc/robot/RobotContainer.java
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@@ -12,14 +12,20 @@ import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.util.FlippingUtil;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -81,7 +87,7 @@ public class RobotContainer {
public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
}
Elevateur elevateur = new Elevateur();
Pince pince = new Pince();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -94,44 +100,49 @@ public class RobotContainer {
Requin requin = new Requin();
CorailAspir corailAspir = new CorailAspir(pince, bougie);
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
}
CameraServer.startAutomaticCapture();
configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
}
private void configureBindings() {
drivetrain.registerTelemetry(logger::telemeterize);
drivetrain.setDefaultCommand(
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*-manette1.getLeftX()*-manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*-manette1.getLeftY()*-manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*-manette1.getRightX()*-manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*-manette1.getRightX()*-manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
)
);
/* Manette 1 */
//pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur,bougie));
manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie));
manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
manette1.leftTrigger().whileTrue(new DepartPince(pince));
manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
manette1.leftStick().whileTrue(new CorailAspir(pince, bougie));
//elevateur
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
manette1.x().whileTrue(new L3(elevateur, pince));
manette1.y().whileTrue(new L4(elevateur, pince));
manette1.povUp().whileTrue(new balonL2(elevateur));
manette1.start().whileTrue(new balonL3(elevateur));
manette1.a().toggleOnTrue(new Depart(elevateur, pince));
manette1.b().toggleOnTrue(new L2(elevateur,pince));
manette1.x().toggleOnTrue(new L3(elevateur, pince));
manette1.y().toggleOnTrue(new L4(elevateur, pince));
manette1.povUp().toggleOnTrue(new balonL2(elevateur));
manette1.start().toggleOnTrue(new balonL3(elevateur));
/* Manette 2 */
//requin
@@ -144,6 +155,7 @@ public class RobotContainer {
//limelight
manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
//grimpeur
manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
@@ -161,7 +173,7 @@ public class RobotContainer {
}, elevateur));
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince));
manette2.start().whileTrue(new reset(elevateur, pince, requin));
}
public Command getAutonomousCommand() {