valeurs encodeurs, sequance, touche, quelque test amperage

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

View File

@ -26,12 +26,11 @@ public class L2 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.encodeurpivot()>=16 && pince.encodeurpivot()<=17){
if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=17){
pince.pivote(-0.1);
else if(pince.encodeurpivot()>=14){
pince.pivote(-0.2);
}
else{
pince.pivote(0.1);

View File

@ -28,26 +28,26 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
elevateur.vitesse(0);
pince.pivote(-0.15);
if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=20){
pince.pivote(-0.15);
}
else{
pince.pivote(0.15);
}
}
else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
elevateur.vitesse(-0.7);
if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
elevateur.vitesse(0);
pince.pivote(-0.15);
if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=20){
pince.pivote(-0.15);
}
else{
elevateur.vitesse(0.25);
pince.pivote(0.15);
}
}
else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
elevateur.vitesse(-0.7);
}
else{
elevateur.vitesse(0.25);
}
}
// Called once the command ends or is interrupted.
@Override

View File

@ -29,11 +29,11 @@ public class L4 extends Command {
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
elevateur.vitesse(0);
pince.pivote(-0.1);
if(pince.encodeurpivot()>=22 && pince.encodeurpivot()<=23){
pince.pivote(-0.15);
if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=22){
else if(pince.encodeurpivot()>=20){
pince.pivote(-0.15);
}
else{

View File

@ -22,7 +22,7 @@ public class StationPince extends Command {
this.elevateur = elevateur;
this.pince = pince;
this.bougie = bougie;
addRequirements(pince,elevateur, bougie);
addRequirements(pince, elevateur, bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -35,9 +35,18 @@ public class StationPince extends Command {
@Override
public void execute() {
if(pince.emperagecoral() >= 12){
if(pince.emperagecoral() >= 18){
pince.x = true;
}
if(elevateur.position()<=-0.1 && elevateur.position()>= -0.2){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-0.1){
elevateur.vitesse(-0.7);
}
else{
elevateur.vitesse(0.25);
}
if(pince.x){
pince.aspirecoral(0);
bougie.Bleu();
@ -47,19 +56,21 @@ public class StationPince extends Command {
}
}
else{
pince.aspirecoral(0.1);
pince.aspirecoral(0.25);
}
if (!pince.x){
if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
pince.pivote(-0.15);
if(pince.encodeurpivot()>=10 && pince.encodeurpivot()<=11){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=11){
pince.pivote(-0.1);
else if(pince.encodeurpivot()>=10.5){
pince.pivote(-0.15);
}
else{
pince.pivote(0.1);
pince.pivote(0.15);
}
}
}
}
// Called once the command ends or is interrupted.
@ -67,6 +78,7 @@ public class StationPince extends Command {
public void end(boolean interrupted) {
pince.pivote(0);
pince.aspirecoral(0);
elevateur.vitesse(0);
pince.x =false;
}

View File

@ -26,13 +26,13 @@ public class CoralExpire extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
/* je crois que ce nest pas necessaire
if(pince.emperagecoral() > 60){
pince.aspirecoral(0);
}
else{
*/
pince.aspirecoral(-.5);
bougie.Jaune();
}
}
// Called once the command ends or is interrupted.

View File

@ -27,31 +27,28 @@ public class BalayeuseAlgue extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.amp()>=12){
requin.xRequin = true;
}
double cibleMin = 700;
double cibleMax = 900;
if(requin.amp()>=78.2){
requin.xRequin = true;
}
if(requin.xRequin){
bougie.Vert();
requin.balaye(0);
}
else{
requin.balaye(.2);
}
if(!requin.xRequin){
if(requin.encodeur()>=700){
requin.rotationer(-0.5);
}
if(!requin.xRequin){
if(requin.encodeur()<=cibleMax && requin.encodeur()>=cibleMin){
requin.rotationer(0);
requin.balaye(-0.4);
}
else if(requin.encodeur()>=cibleMax){
requin.rotationer(-0.1);
}
else{
requin.rotationer(0.5);
requin.rotationer(0.3);
}
if(requin.encodeur()<=715 && requin.encodeur()>=670){
requin.rotationer(0);
}
}
}
}
// Called once the command ends or is interrupted.
@ -59,6 +56,7 @@ public class BalayeuseAlgue extends Command {
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
requin.xRequin = false;
}
// Returns true when the command should end.

View File

@ -27,27 +27,27 @@ public class BalayeuseCoral extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()<=1200 && requin.encodeur()>=1025){
requin.rotationer(0);
if(requin.amp()>=12){
double cibleMax = 1100;
double cibleMin = 900;
if(requin.amp()>=78.2){
requin.xRequin = true;
}
if(requin.xRequin){
requin.balaye(0);
bougie.Vert();
}
if (!requin.xRequin) {
if(requin.encodeur()<=cibleMax && requin.encodeur()>=cibleMin){
requin.rotationer(0);
requin.balaye(0.7);
}
else if(requin.encodeur()>=cibleMax){
requin.rotationer(-0.5);
}
else{
requin.balaye(0.5);
requin.rotationer(0.5);
}
}
if (!requin.xRequin) {
if(requin.encodeur()>=1200){
requin.rotationer(-0.5);
}
else{
requin.rotationer(0.5);
}
}
}
// Called once the command ends or is interrupted.
@ -55,6 +55,7 @@ public class BalayeuseCoral extends Command {
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
requin.xRequin = false;
}
// Returns true when the command should end.

View File

@ -28,14 +28,14 @@ public class ExpireCorail extends Command {
@Override
public void execute() {
if(requin.amp()> 60){
requin.balaye(-0.5);
requin.balaye(-0.4);
}
else
{
bougie.Rouge();
requin.balaye(-0.5);
}
else
{
bougie.Rouge();
requin.balaye(-0.4);
}
}
// Called once the command ends or is interrupted.
@Override

View File

@ -27,11 +27,11 @@ public class L1Requin extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()<=645 && requin.encodeur()>=600){
bougie.Bleu();
if(requin.encodeur()<=530 && requin.encodeur()>=430){
requin.rotationer(0);
}
else if(requin.encodeur()>=645){
else if(requin.encodeur()>=530){
requin.rotationer(-0.5);
}
else{

View File

@ -31,11 +31,11 @@ public class exspire extends Command {
public void execute() {
if(requin.amp()> 15)
{
requin.balaye(0.5);
requin.balaye(0.4);
}
else{
bougie.Rouge();
requin.balaye(0.5);
requin.balaye(0.4);
}
}

View File

@ -7,19 +7,20 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
import frc.robot.subsystems.Requin;
/* 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 reset extends Command {
/** Creates a new reset. */
private Elevateur elevateur;
private Pince pince;
public reset(Elevateur elevateur, Pince pince) {
private Requin requin;
public reset(Elevateur elevateur, Pince pince, Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
this.requin = requin;
addRequirements(elevateur,pince, requin);
}
// Called when the command is initially scheduled.
@ -31,6 +32,7 @@ public class reset extends Command {
public void execute() {
elevateur.reset();
pince.reset();
requin.reset();
}
// Called once the command ends or is interrupted.