From 1583a95f52b7e15a6a457cdb69e1b5a7870939a9 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 27 Jan 2025 18:40:58 -0500 Subject: [PATCH 01/66] il grimpe --- src/main/java/frc/robot/commands/Grimper.java | 46 +++++++++++++++++++ .../java/frc/robot/subsystems/Grimpeur.java | 4 +- 2 files changed, 48 insertions(+), 2 deletions(-) create mode 100644 src/main/java/frc/robot/commands/Grimper.java diff --git a/src/main/java/frc/robot/commands/Grimper.java b/src/main/java/frc/robot/commands/Grimper.java new file mode 100644 index 0000000..11c4304 --- /dev/null +++ b/src/main/java/frc/robot/commands/Grimper.java @@ -0,0 +1,46 @@ +// 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 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 Grimper extends Command { + private Grimpeur grimpeur; + /** Creates a new Grimper. */ + public Grimper(Grimper grimper) { + this.grimpeur = new Grimpeur(); + addRequirements(grimpeur); + // 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() { + if(grimpeur.stop()==true){ + grimpeur.grimpe(0); + } + else{ + grimpeur.grimpe(0.5); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + grimpeur.grimpe(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return grimpeur.stop()==true; + } +} diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 7e55e0b..826da60 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -16,8 +16,8 @@ public class Grimpeur extends SubsystemBase { public void grimpe(double vitesse){ grimpeur.set(vitesse); } - final void stop(){ - limit1.get(); + public boolean stop(){ + return limit1.get(); } @Override public void periodic() { From 9653ca7205fd8da35c8664872eded9c2c24ee1ca Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 27 Jan 2025 19:12:49 -0500 Subject: [PATCH 02/66] grimpe --- src/main/java/frc/robot/subsystems/Grimpeur.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 826da60..7d0561f 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -4,14 +4,17 @@ package frc.robot.subsystems; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkLowLevel.MotorType; + import edu.wpi.first.wpilibj.DigitalInput; -import edu.wpi.first.wpilibj.motorcontrol.Spark; + import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final Spark grimpeur = new Spark(0); + final SparkMax grimpeur = new SparkMax(0,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(0); public void grimpe(double vitesse){ grimpeur.set(vitesse); From fd8ab8663bd04e869d05cce1e9bce9476aa50f13 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 27 Jan 2025 20:14:20 -0500 Subject: [PATCH 03/66] baleeuse --- .../java/frc/robot/command/BalayeuseHaut.java | 46 +++++++++++++++++++ .../java/frc/robot/subsystems/Requin.java | 41 +++++++++++++++++ 2 files changed, 87 insertions(+) create mode 100644 src/main/java/frc/robot/command/BalayeuseHaut.java create mode 100644 src/main/java/frc/robot/subsystems/Requin.java diff --git a/src/main/java/frc/robot/command/BalayeuseHaut.java b/src/main/java/frc/robot/command/BalayeuseHaut.java new file mode 100644 index 0000000..4dc75c8 --- /dev/null +++ b/src/main/java/frc/robot/command/BalayeuseHaut.java @@ -0,0 +1,46 @@ +// 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.command; + +import edu.wpi.first.wpilibj2.command.Command; +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 BalayeuseHaut extends Command { + private Requin requin; + /** Creates a new Balayeuse. */ + public BalayeuseHaut(Requin requin) { + this.requin = requin; + addRequirements(requin); + // 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() { + if(requin.enHaut()==true){ + requin.rotationer(0); + } + else{ + requin.rotationer(0.5); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.rotationer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java new file mode 100644 index 0000000..f200054 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -0,0 +1,41 @@ +// 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.subsystems; + +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkLowLevel.MotorType; + +import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Requin extends SubsystemBase { + /** Creates a new Requin. */ + public Requin() {} + final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless); + final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless); + final DigitalInput limit3 = new DigitalInput(0); + final DigitalInput limit4 = new DigitalInput(0); + final DigitalInput limit5 = new DigitalInput(0); + public void balaye(double vitesse){ + balaye.set(vitesse); + } + public void rotationer(double vitesse){ + rotatione.set(vitesse); + } + public boolean enHaut(){ + return limit3.get(); + } + public boolean enBas(){ + return limit4.get(); + } + public boolean stop(){ + return limit5.get(); + } + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} From 7e40328af43d20cc0f4ed344f7ffc0bebefeae44 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 17:51:17 -0500 Subject: [PATCH 04/66] il grimpe mieux --- .../{Grimper.java => GrimperHaut.java} | 5 ++- .../java/frc/robot/commands/GrimpeurBas.java | 44 +++++++++++++++++++ .../java/frc/robot/subsystems/Grimpeur.java | 6 +++ 3 files changed, 53 insertions(+), 2 deletions(-) rename src/main/java/frc/robot/commands/{Grimper.java => GrimperHaut.java} (92%) create mode 100644 src/main/java/frc/robot/commands/GrimpeurBas.java diff --git a/src/main/java/frc/robot/commands/Grimper.java b/src/main/java/frc/robot/commands/GrimperHaut.java similarity index 92% rename from src/main/java/frc/robot/commands/Grimper.java rename to src/main/java/frc/robot/commands/GrimperHaut.java index 11c4304..e928ca4 100644 --- a/src/main/java/frc/robot/commands/Grimper.java +++ b/src/main/java/frc/robot/commands/GrimperHaut.java @@ -8,10 +8,10 @@ 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 Grimper extends Command { +public class GrimperHaut extends Command { private Grimpeur grimpeur; /** Creates a new Grimper. */ - public Grimper(Grimper grimper) { + public GrimperHaut(GrimperHaut grimper) { this.grimpeur = new Grimpeur(); addRequirements(grimpeur); // Use addRequirements() here to declare subsystem dependencies. @@ -26,6 +26,7 @@ public class Grimper extends Command { public void execute() { if(grimpeur.stop()==true){ grimpeur.grimpe(0); + grimpeur.reset(); } else{ grimpeur.grimpe(0.5); diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java new file mode 100644 index 0000000..d6b071f --- /dev/null +++ b/src/main/java/frc/robot/commands/GrimpeurBas.java @@ -0,0 +1,44 @@ +// 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 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; + /** Creates a new GrimpeurBas. */ + public GrimpeurBas(Grimpeur grimpeur) { + this.grimpeur = grimpeur; + addRequirements(grimpeur); + // 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() { + if(grimpeur.encodeur()>=500){ + grimpeur.grimpe(0); + } + grimpeur.grimpe(-0.5); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + grimpeur.grimpe(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 7d0561f..09ca682 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -22,6 +22,12 @@ public class Grimpeur extends SubsystemBase { public boolean stop(){ return limit1.get(); } + public double encodeur(){ + return grimpeur.getEncoder().getPosition(); + } + public void reset(){ + grimpeur.getEncoder().setPosition(0); + } @Override public void periodic() { // This method will be called once per scheduler run From 72da7b7d74a22f942be57d29668c3e580e17cfdc Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 17:56:40 -0500 Subject: [PATCH 05/66] requin rotatione --- .../java/frc/robot/command/BalayeuseBas.java | 46 +++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100644 src/main/java/frc/robot/command/BalayeuseBas.java diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/BalayeuseBas.java new file mode 100644 index 0000000..110dd8c --- /dev/null +++ b/src/main/java/frc/robot/command/BalayeuseBas.java @@ -0,0 +1,46 @@ +// 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.command; + +import edu.wpi.first.wpilibj2.command.Command; +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 BalayeuseBas extends Command { + private Requin requin; + /** Creates a new Balayeuse. */ + public BalayeuseBas(Requin requin) { + this.requin = requin; + addRequirements(requin); + // 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() { + if(requin.enBas()==true){ + requin.rotationer(0); + } + else{ + requin.rotationer(-0.5); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.rotationer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From e4c7a1260673ed5ca774e4218f0d84aa5ef49404 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 18:02:53 -0500 Subject: [PATCH 06/66] balaye --- src/main/java/frc/robot/command/BalayeuseBas.java | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/BalayeuseBas.java index 110dd8c..b4016a6 100644 --- a/src/main/java/frc/robot/command/BalayeuseBas.java +++ b/src/main/java/frc/robot/command/BalayeuseBas.java @@ -30,12 +30,19 @@ public class BalayeuseBas extends Command { else{ requin.rotationer(-0.5); } + if(requin.stop()){ + requin.balaye(0); + } + else{ + requin.balaye(0.5); + } } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { requin.rotationer(0); + requin.balaye(0); } // Returns true when the command should end. From 15be1d67ea1b9fa06099c0f0ec881050cec936e8 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 18:05:47 -0500 Subject: [PATCH 07/66] L1 --- src/main/java/frc/robot/command/L1.java | 41 +++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 src/main/java/frc/robot/command/L1.java diff --git a/src/main/java/frc/robot/command/L1.java b/src/main/java/frc/robot/command/L1.java new file mode 100644 index 0000000..35e8707 --- /dev/null +++ b/src/main/java/frc/robot/command/L1.java @@ -0,0 +1,41 @@ +// 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.command; + +import edu.wpi.first.wpilibj2.command.Command; +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 L1 extends Command { + private Requin requin; + /** Creates a new L1. */ + public L1(Requin requin) { + this.requin = requin; + addRequirements(requin); + // 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() { + requin.balaye(-0.5); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.balaye(.0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From 12b5e6954e451779eb76cf2bac0e2efce4cb5318 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 18:31:02 -0500 Subject: [PATCH 08/66] --- src/main/java/frc/robot/{commands => command}/GrimperHaut.java | 2 +- src/main/java/frc/robot/{commands => command}/GrimpeurBas.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) rename src/main/java/frc/robot/{commands => command}/GrimperHaut.java (98%) rename src/main/java/frc/robot/{commands => command}/GrimpeurBas.java (97%) diff --git a/src/main/java/frc/robot/commands/GrimperHaut.java b/src/main/java/frc/robot/command/GrimperHaut.java similarity index 98% rename from src/main/java/frc/robot/commands/GrimperHaut.java rename to src/main/java/frc/robot/command/GrimperHaut.java index e928ca4..37279f0 100644 --- a/src/main/java/frc/robot/commands/GrimperHaut.java +++ b/src/main/java/frc/robot/command/GrimperHaut.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.command; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Grimpeur; diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/command/GrimpeurBas.java similarity index 97% rename from src/main/java/frc/robot/commands/GrimpeurBas.java rename to src/main/java/frc/robot/command/GrimpeurBas.java index d6b071f..cf31f6a 100644 --- a/src/main/java/frc/robot/commands/GrimpeurBas.java +++ b/src/main/java/frc/robot/command/GrimpeurBas.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.command; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Grimpeur; From 982db168335e63ab4227639024e61500641505d1 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 19:22:43 -0500 Subject: [PATCH 09/66] grimpeMieux --- src/main/java/frc/robot/command/GrimpeurBas.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/command/GrimpeurBas.java b/src/main/java/frc/robot/command/GrimpeurBas.java index cf31f6a..9f4a210 100644 --- a/src/main/java/frc/robot/command/GrimpeurBas.java +++ b/src/main/java/frc/robot/command/GrimpeurBas.java @@ -24,9 +24,12 @@ public class GrimpeurBas extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(grimpeur.encodeur()>=500){ + if(grimpeur.encodeur()>=500 && grimpeur.encodeur()<=510){ grimpeur.grimpe(0); } + else if(grimpeur.encodeur()>=510){ + grimpeur.grimpe(0.5); + } grimpeur.grimpe(-0.5); } From eec4eee2ff0563f29ee020a50e7e94ad404dfb3e Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 28 Jan 2025 19:34:18 -0500 Subject: [PATCH 10/66] baleeuse --- .../frc/robot/command/BalayeuseAlgue.java | 56 +++++++++++++++++++ .../frc/robot/command/BalayeuseCoral.java | 56 +++++++++++++++++++ .../java/frc/robot/command/BalayeuseHaut.java | 1 + .../{BalayeuseBas.java => L1Requin.java} | 9 ++- .../java/frc/robot/subsystems/Requin.java | 14 +++-- 5 files changed, 127 insertions(+), 9 deletions(-) create mode 100644 src/main/java/frc/robot/command/BalayeuseAlgue.java create mode 100644 src/main/java/frc/robot/command/BalayeuseCoral.java rename src/main/java/frc/robot/command/{BalayeuseBas.java => L1Requin.java} (86%) diff --git a/src/main/java/frc/robot/command/BalayeuseAlgue.java b/src/main/java/frc/robot/command/BalayeuseAlgue.java new file mode 100644 index 0000000..04e02fa --- /dev/null +++ b/src/main/java/frc/robot/command/BalayeuseAlgue.java @@ -0,0 +1,56 @@ +// 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.command; + +import edu.wpi.first.wpilibj2.command.Command; +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 BalayeuseAlgue extends Command { + private Requin requin; + /** Creates a new Balayeuse. */ + public BalayeuseAlgue(Requin requin) { + this.requin = requin; + addRequirements(requin); + // 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() { + if(requin.encodeur()>=500 && requin.encodeur()<=510){ + requin.rotationer(0); + } + else if(requin.encodeur()>=510){ + requin.rotationer(0.5); + } + else{ + requin.rotationer(-0.5); + } + if(requin.stop()){ + requin.balaye(0); + } + else{ + requin.balaye(0.5); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.rotationer(0); + requin.balaye(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/command/BalayeuseCoral.java b/src/main/java/frc/robot/command/BalayeuseCoral.java new file mode 100644 index 0000000..6075a71 --- /dev/null +++ b/src/main/java/frc/robot/command/BalayeuseCoral.java @@ -0,0 +1,56 @@ +// 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.command; + +import edu.wpi.first.wpilibj2.command.Command; +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 BalayeuseCoral extends Command { + private Requin requin; + /** Creates a new Balayeuse. */ + public BalayeuseCoral(Requin requin) { + this.requin = requin; + addRequirements(requin); + // 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() { + if(requin.encodeur()>=100 && requin.encodeur()<=110){ + requin.rotationer(0); + } + else if(requin.encodeur()>=110){ + requin.rotationer(0.5); + } + else{ + requin.rotationer(-0.5); + } + if(requin.stop()){ + requin.balaye(0); + } + else{ + requin.balaye(0.5); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.rotationer(0); + requin.balaye(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/command/BalayeuseHaut.java b/src/main/java/frc/robot/command/BalayeuseHaut.java index 4dc75c8..647c592 100644 --- a/src/main/java/frc/robot/command/BalayeuseHaut.java +++ b/src/main/java/frc/robot/command/BalayeuseHaut.java @@ -26,6 +26,7 @@ public class BalayeuseHaut extends Command { public void execute() { if(requin.enHaut()==true){ requin.rotationer(0); + requin.reset(); } else{ requin.rotationer(0.5); diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/L1Requin.java similarity index 86% rename from src/main/java/frc/robot/command/BalayeuseBas.java rename to src/main/java/frc/robot/command/L1Requin.java index b4016a6..0dc75c5 100644 --- a/src/main/java/frc/robot/command/BalayeuseBas.java +++ b/src/main/java/frc/robot/command/L1Requin.java @@ -8,10 +8,10 @@ import edu.wpi.first.wpilibj2.command.Command; 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 BalayeuseBas extends Command { +public class L1Requin extends Command { private Requin requin; /** Creates a new Balayeuse. */ - public BalayeuseBas(Requin requin) { + public L1Requin(Requin requin) { this.requin = requin; addRequirements(requin); // Use addRequirements() here to declare subsystem dependencies. @@ -24,9 +24,12 @@ public class BalayeuseBas extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.enBas()==true){ + if(requin.encodeur()>=800 && requin.encodeur()<=810){ requin.rotationer(0); } + else if(requin.encodeur()>=810){ + requin.rotationer(0.5); + } else{ requin.rotationer(-0.5); } diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index f200054..5ebd547 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -17,23 +17,25 @@ public class Requin extends SubsystemBase { final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(0); - final DigitalInput limit4 = new DigitalInput(0); final DigitalInput limit5 = new DigitalInput(0); public void balaye(double vitesse){ balaye.set(vitesse); } public void rotationer(double vitesse){ - rotatione.set(vitesse); + rotatione.set(vitesse); } public boolean enHaut(){ - return limit3.get(); - } - public boolean enBas(){ - return limit4.get(); + return limit3.get(); } public boolean stop(){ return limit5.get(); } + public double encodeur(){ + return rotatione.getEncoder().getPosition(); + } + public void reset(){ + rotatione.getEncoder().setPosition(0); + } @Override public void periodic() { // This method will be called once per scheduler run From afe25cf046669e1045db9ea80ea6e95876eaf614 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Jan 2025 19:41:28 -0500 Subject: [PATCH 11/66] pu L1 --- src/main/java/frc/robot/RobotContainer.java | 7 +++- src/main/java/frc/robot/command/L1.java | 41 --------------------- 2 files changed, 6 insertions(+), 42 deletions(-) delete mode 100644 src/main/java/frc/robot/command/L1.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index de2c9d0..61d2ac0 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,13 +6,18 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; public class RobotContainer { + CommandXboxController manette1 = new CommandXboxController(0); + CommandXboxController manette2 = new CommandXboxController(0); public RobotContainer() { configureBindings(); } - private void configureBindings() {} + private void configureBindings() { + + } public Command getAutonomousCommand() { return Commands.print("No autonomous command configured"); diff --git a/src/main/java/frc/robot/command/L1.java b/src/main/java/frc/robot/command/L1.java deleted file mode 100644 index 35e8707..0000000 --- a/src/main/java/frc/robot/command/L1.java +++ /dev/null @@ -1,41 +0,0 @@ -// 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.command; - -import edu.wpi.first.wpilibj2.command.Command; -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 L1 extends Command { - private Requin requin; - /** Creates a new L1. */ - public L1(Requin requin) { - this.requin = requin; - addRequirements(requin); - // 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() { - requin.balaye(-0.5); - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - requin.balaye(.0); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} From 4c49ad4e513986822a6f67562d07c1864e77c5af Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Jan 2025 19:45:46 -0500 Subject: [PATCH 12/66] touche requin --- src/main/java/frc/robot/RobotContainer.java | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 61d2ac0..56f9063 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -7,16 +7,25 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.command.BalayeuseAlgue; +import frc.robot.command.BalayeuseCoral; +import frc.robot.command.BalayeuseHaut; +import frc.robot.command.L1Requin; +import frc.robot.subsystems.Requin; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(0); + Requin requin = new Requin(); public RobotContainer() { configureBindings(); } private void configureBindings() { - + manette2.b().whileTrue(new BalayeuseAlgue(requin)); + manette2.x().whileTrue(new BalayeuseCoral(requin)); + manette2.y().whileTrue(new L1Requin(requin)); + manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); } public Command getAutonomousCommand() { From 831b9fec7556f61f1a1ef18bb4830175ce2f25a4 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 29 Jan 2025 19:51:59 -0500 Subject: [PATCH 13/66] Touche grinpeur --- src/main/java/frc/robot/RobotContainer.java | 12 +++++++++++- src/main/java/frc/robot/command/GrimperHaut.java | 2 +- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index de2c9d0..44802c3 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,13 +6,23 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.command.GrimperHaut; +import frc.robot.command.GrimpeurBas; +import frc.robot.subsystems.Grimpeur; public class RobotContainer { + CommandXboxController manette1 = new CommandXboxController(0); + CommandXboxController manette2 = new CommandXboxController(0); + Grimpeur grimpeur = new Grimpeur(); public RobotContainer() { configureBindings(); } - private void configureBindings() {} + private void configureBindings() { + manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur)); + manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur)); + } public Command getAutonomousCommand() { return Commands.print("No autonomous command configured"); diff --git a/src/main/java/frc/robot/command/GrimperHaut.java b/src/main/java/frc/robot/command/GrimperHaut.java index 37279f0..5951e90 100644 --- a/src/main/java/frc/robot/command/GrimperHaut.java +++ b/src/main/java/frc/robot/command/GrimperHaut.java @@ -11,7 +11,7 @@ import frc.robot.subsystems.Grimpeur; public class GrimperHaut extends Command { private Grimpeur grimpeur; /** Creates a new Grimper. */ - public GrimperHaut(GrimperHaut grimper) { + public GrimperHaut(Grimpeur grimpeur) { this.grimpeur = new Grimpeur(); addRequirements(grimpeur); // Use addRequirements() here to declare subsystem dependencies. From 0c7cfc9d4c6399d3380b0349ebf49b4f9f4e79b8 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:20:20 -0500 Subject: [PATCH 14/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 09ca682..f754c11 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(0,MotorType.kBrushless); - final DigitalInput limit1 = new DigitalInput(0); + final SparkMax grimpeur = new SparkMax(1,MotorType.kBrushless); + final DigitalInput limit1 = new DigitalInput(2); public void grimpe(double vitesse){ grimpeur.set(vitesse); } From f01f327c81466771897ba6220cfcc9e49703bc5c Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:22:01 -0500 Subject: [PATCH 15/66] id --- simgui-ds.json | 97 +++++++++++++++++++ .../java/frc/robot/subsystems/Grimpeur.java | 2 +- 2 files changed, 98 insertions(+), 1 deletion(-) create mode 100644 simgui-ds.json diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..4a63cc1 --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,97 @@ +{ + "System Joysticks": { + "window": { + "enabled": false + } + }, + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ] +} diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index f754c11..3a48bfa 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(1,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(7,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(2); public void grimpe(double vitesse){ grimpeur.set(vitesse); From 345eb83d39ef33547df44a41987a2851bcf3cbfb Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:23:17 -0500 Subject: [PATCH 16/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 3a48bfa..2443db1 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(7,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(5,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(2); public void grimpe(double vitesse){ grimpeur.set(vitesse); From 8a7f10ec64ca0d3641836a27745a1b8dcc56a8a9 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:24:08 -0500 Subject: [PATCH 17/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 2443db1..b734228 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(5,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(10,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(2); public void grimpe(double vitesse){ grimpeur.set(vitesse); From d44aea512d27e34fbe8be5aae0d99f8b90fed149 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:27:30 -0500 Subject: [PATCH 18/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index b734228..a67ad2c 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -15,7 +15,7 @@ public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} final SparkMax grimpeur = new SparkMax(10,MotorType.kBrushless); - final DigitalInput limit1 = new DigitalInput(2); + final DigitalInput limit1 = new DigitalInput(3); public void grimpe(double vitesse){ grimpeur.set(vitesse); } From 7be1b69ece5663cad7751a8ddf2bbdbc8e26af30 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:31:31 -0500 Subject: [PATCH 19/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index a67ad2c..8539e5d 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(10,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(1,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(3); public void grimpe(double vitesse){ grimpeur.set(vitesse); From 6437b9f152e01b0ac8fbeb635c673be200291fb8 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:35:44 -0500 Subject: [PATCH 20/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 8539e5d..bc5d37b 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(1,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(8,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(3); public void grimpe(double vitesse){ grimpeur.set(vitesse); From a54ebb16e9593ab5613fa7ecc9ba110794a4bda2 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:39:16 -0500 Subject: [PATCH 21/66] id --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 44802c3..bb2adaa 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,7 +13,7 @@ import frc.robot.subsystems.Grimpeur; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); - CommandXboxController manette2 = new CommandXboxController(0); + CommandXboxController manette2 = new CommandXboxController(1); Grimpeur grimpeur = new Grimpeur(); public RobotContainer() { configureBindings(); diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index bc5d37b..a67ad2c 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(8,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(10,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(3); public void grimpe(double vitesse){ grimpeur.set(vitesse); From a984625e176f386ae5816285425013b536f0f1c7 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:48:23 -0500 Subject: [PATCH 22/66] marche --- src/main/java/frc/robot/command/GrimperHaut.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/command/GrimperHaut.java b/src/main/java/frc/robot/command/GrimperHaut.java index 5951e90..0330626 100644 --- a/src/main/java/frc/robot/command/GrimperHaut.java +++ b/src/main/java/frc/robot/command/GrimperHaut.java @@ -12,7 +12,7 @@ public class GrimperHaut extends Command { private Grimpeur grimpeur; /** Creates a new Grimper. */ public GrimperHaut(Grimpeur grimpeur) { - this.grimpeur = new Grimpeur(); + this.grimpeur = grimpeur; addRequirements(grimpeur); // Use addRequirements() here to declare subsystem dependencies. } From 0f81dd39e9597ddad0a9b1126e2b0023b9fd8aa1 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:52:32 -0500 Subject: [PATCH 23/66] ils ont amener le deux par quatre --- src/main/java/frc/robot/command/GrimpeurBas.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/command/GrimpeurBas.java b/src/main/java/frc/robot/command/GrimpeurBas.java index 9f4a210..062de4e 100644 --- a/src/main/java/frc/robot/command/GrimpeurBas.java +++ b/src/main/java/frc/robot/command/GrimpeurBas.java @@ -30,7 +30,8 @@ public class GrimpeurBas extends Command { else if(grimpeur.encodeur()>=510){ grimpeur.grimpe(0.5); } - grimpeur.grimpe(-0.5); + else{grimpeur.grimpe(-0.5); + } } // Called once the command ends or is interrupted. From 56704c3e6891cb4dcdb3136567e5f8000a262a7a Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:53:33 -0500 Subject: [PATCH 24/66] id --- src/main/java/frc/robot/subsystems/Requin.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index 5ebd547..ac317dc 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -14,10 +14,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Requin extends SubsystemBase { /** Creates a new Requin. */ public Requin() {} - final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless); - final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless); - final DigitalInput limit3 = new DigitalInput(0); - final DigitalInput limit5 = new DigitalInput(0); + final SparkFlex balaye = new SparkFlex(9, MotorType.kBrushless); + final SparkMax rotatione = new SparkMax(10, MotorType.kBrushless); + final DigitalInput limit3 = new DigitalInput(4); + final DigitalInput limit5 = new DigitalInput(5); public void balaye(double vitesse){ balaye.set(vitesse); } From 2ac9cfe8ffa201cc64356f565c394b70b2877e93 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 3 Feb 2025 18:59:31 -0500 Subject: [PATCH 25/66] simulation --- simgui-ds.json | 109 ++++++++++++++++++++ src/main/java/frc/robot/RobotContainer.java | 2 +- 2 files changed, 110 insertions(+), 1 deletion(-) create mode 100644 simgui-ds.json diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..dd439bd --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,109 @@ +{ + "FMS": { + "window": { + "visible": false + } + }, + "Joysticks": { + "window": { + "visible": false + } + }, + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ], + "robotJoysticks": [ + {}, + { + "guid": "78696e70757401000000000000000000", + "useGamepad": true + } + ] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 56f9063..d4c9d78 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,7 +15,7 @@ import frc.robot.subsystems.Requin; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); - CommandXboxController manette2 = new CommandXboxController(0); + CommandXboxController manette2 = new CommandXboxController(1); Requin requin = new Requin(); public RobotContainer() { configureBindings(); From 6683613c7ff7bdc4d2b6a044304770909ac265fe Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 6 Feb 2025 17:48:27 -0500 Subject: [PATCH 26/66] command -> commands --- src/main/java/frc/robot/RobotContainer.java | 8 ++++---- .../frc/robot/{command => commands}/BalayeuseAlgue.java | 2 +- .../frc/robot/{command => commands}/BalayeuseCoral.java | 2 +- .../frc/robot/{command => commands}/BalayeuseHaut.java | 2 +- .../java/frc/robot/{command => commands}/L1Requin.java | 2 +- 5 files changed, 8 insertions(+), 8 deletions(-) rename src/main/java/frc/robot/{command => commands}/BalayeuseAlgue.java (98%) rename src/main/java/frc/robot/{command => commands}/BalayeuseCoral.java (98%) rename src/main/java/frc/robot/{command => commands}/BalayeuseHaut.java (97%) rename src/main/java/frc/robot/{command => commands}/L1Requin.java (98%) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d4c9d78..a8affa1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -7,10 +7,10 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.command.BalayeuseAlgue; -import frc.robot.command.BalayeuseCoral; -import frc.robot.command.BalayeuseHaut; -import frc.robot.command.L1Requin; +import frc.robot.commands.BalayeuseAlgue; +import frc.robot.commands.BalayeuseCoral; +import frc.robot.commands.BalayeuseHaut; +import frc.robot.commands.L1Requin; import frc.robot.subsystems.Requin; public class RobotContainer { diff --git a/src/main/java/frc/robot/command/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java similarity index 98% rename from src/main/java/frc/robot/command/BalayeuseAlgue.java rename to src/main/java/frc/robot/commands/BalayeuseAlgue.java index 04e02fa..38b6a09 100644 --- a/src/main/java/frc/robot/command/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -2,7 +2,7 @@ // 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.command; +package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/command/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java similarity index 98% rename from src/main/java/frc/robot/command/BalayeuseCoral.java rename to src/main/java/frc/robot/commands/BalayeuseCoral.java index 6075a71..879eee3 100644 --- a/src/main/java/frc/robot/command/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -2,7 +2,7 @@ // 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.command; +package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/command/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java similarity index 97% rename from src/main/java/frc/robot/command/BalayeuseHaut.java rename to src/main/java/frc/robot/commands/BalayeuseHaut.java index 647c592..ee25627 100644 --- a/src/main/java/frc/robot/command/BalayeuseHaut.java +++ b/src/main/java/frc/robot/commands/BalayeuseHaut.java @@ -2,7 +2,7 @@ // 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.command; +package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/command/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java similarity index 98% rename from src/main/java/frc/robot/command/L1Requin.java rename to src/main/java/frc/robot/commands/L1Requin.java index 0dc75c5..6f23948 100644 --- a/src/main/java/frc/robot/command/L1Requin.java +++ b/src/main/java/frc/robot/commands/L1Requin.java @@ -2,7 +2,7 @@ // 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.command; +package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; From 3669e079bdf2f05115592dd97c5c3b549ca2d73f Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 6 Feb 2025 17:49:41 -0500 Subject: [PATCH 27/66] command -> commands --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../java/frc/robot/{command => commands}/GrimperHaut.java | 2 +- .../java/frc/robot/{command => commands}/GrimpeurBas.java | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) rename src/main/java/frc/robot/{command => commands}/GrimperHaut.java (97%) rename src/main/java/frc/robot/{command => commands}/GrimpeurBas.java (98%) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bb2adaa..5e95786 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -7,8 +7,8 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.command.GrimperHaut; -import frc.robot.command.GrimpeurBas; +import frc.robot.commands.GrimperHaut; +import frc.robot.commands.GrimpeurBas; import frc.robot.subsystems.Grimpeur; public class RobotContainer { diff --git a/src/main/java/frc/robot/command/GrimperHaut.java b/src/main/java/frc/robot/commands/GrimperHaut.java similarity index 97% rename from src/main/java/frc/robot/command/GrimperHaut.java rename to src/main/java/frc/robot/commands/GrimperHaut.java index 0330626..29abdf8 100644 --- a/src/main/java/frc/robot/command/GrimperHaut.java +++ b/src/main/java/frc/robot/commands/GrimperHaut.java @@ -2,7 +2,7 @@ // 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.command; +package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Grimpeur; diff --git a/src/main/java/frc/robot/command/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java similarity index 98% rename from src/main/java/frc/robot/command/GrimpeurBas.java rename to src/main/java/frc/robot/commands/GrimpeurBas.java index 062de4e..73cd93f 100644 --- a/src/main/java/frc/robot/command/GrimpeurBas.java +++ b/src/main/java/frc/robot/commands/GrimpeurBas.java @@ -2,7 +2,7 @@ // 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.command; +package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Grimpeur; From 3458203225f58a8ee08380bdf326299fedfa6297 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 11 Feb 2025 19:51:37 -0500 Subject: [PATCH 28/66] leds baleeuse et saaaaaaaaaaam --- src/main/java/frc/robot/RobotContainer.java | 9 ++-- .../frc/robot/commands/BalayeuseAlgue.java | 21 +++++--- .../frc/robot/commands/BalayeuseCoral.java | 21 +++++--- .../java/frc/robot/commands/L1Requin.java | 24 ++++++--- .../java/frc/robot/subsystems/Bougie.java | 52 +++++++++++++++++++ 5 files changed, 99 insertions(+), 28 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/Bougie.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a8affa1..71fb150 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -12,19 +12,20 @@ import frc.robot.commands.BalayeuseCoral; import frc.robot.commands.BalayeuseHaut; import frc.robot.commands.L1Requin; import frc.robot.subsystems.Requin; - +import frc.robot.subsystems.Bougie; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); Requin requin = new Requin(); + Bougie bougie = new Bougie(); public RobotContainer() { configureBindings(); } private void configureBindings() { - manette2.b().whileTrue(new BalayeuseAlgue(requin)); - manette2.x().whileTrue(new BalayeuseCoral(requin)); - manette2.y().whileTrue(new L1Requin(requin)); + manette2.b().whileTrue(new BalayeuseAlgue(requin,bougie)); + manette2.x().whileTrue(new BalayeuseCoral(requin,bougie)); + manette2.y().whileTrue(new L1Requin(requin,bougie)); manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); } diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java index 38b6a09..03dc31d 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -5,15 +5,18 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; 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 BalayeuseAlgue extends Command { private Requin requin; + private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseAlgue(Requin requin) { + public BalayeuseAlgue(Requin requin,Bougie bougie) { this.requin = requin; - addRequirements(requin); + this.bougie =bougie; + addRequirements(requin, bougie); // Use addRequirements() here to declare subsystem dependencies. } @@ -26,6 +29,13 @@ public class BalayeuseAlgue extends Command { public void execute() { if(requin.encodeur()>=500 && requin.encodeur()<=510){ requin.rotationer(0); + if(requin.stop()){ + requin.balaye(0); + bougie.Vert(); + } + else{ + requin.balaye(0.5); + } } else if(requin.encodeur()>=510){ requin.rotationer(0.5); @@ -33,12 +43,7 @@ public class BalayeuseAlgue extends Command { else{ requin.rotationer(-0.5); } - if(requin.stop()){ - requin.balaye(0); - } - else{ - requin.balaye(0.5); - } + } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java index 879eee3..35aa9d8 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -5,15 +5,18 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; 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 BalayeuseCoral extends Command { private Requin requin; + private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseCoral(Requin requin) { + public BalayeuseCoral(Requin requin,Bougie bougie) { this.requin = requin; - addRequirements(requin); + this.bougie = bougie; + addRequirements(requin,bougie); // Use addRequirements() here to declare subsystem dependencies. } @@ -26,6 +29,13 @@ public class BalayeuseCoral extends Command { public void execute() { if(requin.encodeur()>=100 && requin.encodeur()<=110){ requin.rotationer(0); + if(requin.stop()){ + requin.balaye(0); + bougie.Vert(); + } + else{ + requin.balaye(0.5); + } } else if(requin.encodeur()>=110){ requin.rotationer(0.5); @@ -33,12 +43,7 @@ public class BalayeuseCoral extends Command { else{ requin.rotationer(-0.5); } - if(requin.stop()){ - requin.balaye(0); - } - else{ - requin.balaye(0.5); - } + } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java index 6f23948..230f6f5 100644 --- a/src/main/java/frc/robot/commands/L1Requin.java +++ b/src/main/java/frc/robot/commands/L1Requin.java @@ -5,15 +5,18 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; 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 L1Requin extends Command { private Requin requin; + private Bougie bougie; /** Creates a new Balayeuse. */ - public L1Requin(Requin requin) { + public L1Requin(Requin requin,Bougie bougie) { this.requin = requin; - addRequirements(requin); + this.bougie = bougie; + addRequirements(requin,bougie); // Use addRequirements() here to declare subsystem dependencies. } @@ -26,6 +29,13 @@ public class L1Requin extends Command { public void execute() { if(requin.encodeur()>=800 && requin.encodeur()<=810){ requin.rotationer(0); + if(requin.stop()){ + requin.balaye(-0.5); + } + else{ + requin.balaye(-0.5); + bougie.Rouge(); + } } else if(requin.encodeur()>=810){ requin.rotationer(0.5); @@ -33,12 +43,10 @@ public class L1Requin extends Command { else{ requin.rotationer(-0.5); } - if(requin.stop()){ - requin.balaye(0); - } - else{ - requin.balaye(0.5); - } + + + + } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java new file mode 100644 index 0000000..98bdf49 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -0,0 +1,52 @@ +// 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.subsystems; + +import com.ctre.phoenix.led.CANdle; +import com.ctre.phoenix.led.CANdleConfiguration; +import com.ctre.phoenix.led.RainbowAnimation; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Bougie extends SubsystemBase { + CANdle candle = new CANdle(5); + CANdleConfiguration config = new CANdleConfiguration(); + RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); + /** Creates a new Bougie. */ + public Bougie() { + config.brightnessScalar = 0.5; + candle.configAllSettings(config); + } + public void Rouge() { + candle.setLEDs(255, 0, 0,0,8,8); + candle.setLEDs(255, 0, 0,0,24,8); + candle.setLEDs(255, 0, 0,0,40,8); + candle.setLEDs(255, 0, 0,0,56,8); + } + public void Vert() { + candle.setLEDs(0, 255, 0,0,8,8); + candle.setLEDs(0, 255, 0,0,24,8); + candle.setLEDs(0, 255, 0,0,40,8); + candle.setLEDs(0, 255, 0,0,56,8); + } + public void Bleu() { + candle.setLEDs(0, 0, 255,0,16,8); + candle.setLEDs(0, 0, 255,0,32,8); + candle.setLEDs(0, 0, 255,0,48,8); + candle.setLEDs(0, 0, 255,0,64,8); + } + public void Jaune() { + candle.setLEDs(255, 215, 0,0,16,8); + candle.setLEDs(255, 215, 0,0,32,8); + candle.setLEDs(255, 215, 0,0,48,8); + candle.setLEDs(255, 215, 0,0,64,8); + } + public void RainBow(){candle.animate(rainbowAnim);} + public void RainBowStop(){candle.animate(null);} + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} From eaa14fb1b17400ff1eff8523974b9a37860c1f64 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 12 Feb 2025 16:52:10 -0500 Subject: [PATCH 29/66] mieu ecrit --- src/main/java/frc/robot/commands/BalayeuseAlgue.java | 4 ++-- src/main/java/frc/robot/commands/L1Requin.java | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java index 03dc31d..ebab2e7 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -33,8 +33,8 @@ public class BalayeuseAlgue extends Command { requin.balaye(0); bougie.Vert(); } - else{ - requin.balaye(0.5); + else{ + requin.balaye(0.5); } } else if(requin.encodeur()>=510){ diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java index 230f6f5..e20b921 100644 --- a/src/main/java/frc/robot/commands/L1Requin.java +++ b/src/main/java/frc/robot/commands/L1Requin.java @@ -32,10 +32,10 @@ public class L1Requin extends Command { if(requin.stop()){ requin.balaye(-0.5); } - else{ - requin.balaye(-0.5); - bougie.Rouge(); - } + else{ + requin.balaye(-0.5); + bougie.Rouge(); + } } else if(requin.encodeur()>=810){ requin.rotationer(0.5); From eb141ac2bad04f1635da50b44cb4ed22ded7e80f Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 17 Feb 2025 18:45:04 -0500 Subject: [PATCH 30/66] leds --- src/main/java/frc/robot/RobotContainer.java | 4 +- .../java/frc/robot/commands/GrimperHaut.java | 13 +++++- src/main/java/frc/robot/commands/RainBow.java | 41 +++++++++++++++++++ .../java/frc/robot/subsystems/Bougie.java | 38 +++++++++++++++++ 4 files changed, 93 insertions(+), 3 deletions(-) create mode 100644 src/main/java/frc/robot/commands/RainBow.java create mode 100644 src/main/java/frc/robot/subsystems/Bougie.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5e95786..a990732 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -9,18 +9,20 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.commands.GrimperHaut; import frc.robot.commands.GrimpeurBas; +import frc.robot.subsystems.Bougie; import frc.robot.subsystems.Grimpeur; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); Grimpeur grimpeur = new Grimpeur(); + Bougie bougie = new Bougie(); public RobotContainer() { configureBindings(); } private void configureBindings() { - manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur)); + manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie)); manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur)); } diff --git a/src/main/java/frc/robot/commands/GrimperHaut.java b/src/main/java/frc/robot/commands/GrimperHaut.java index 29abdf8..ad0ebf0 100644 --- a/src/main/java/frc/robot/commands/GrimperHaut.java +++ b/src/main/java/frc/robot/commands/GrimperHaut.java @@ -5,15 +5,18 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; 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 GrimperHaut extends Command { private Grimpeur grimpeur; + private Bougie bougie; /** Creates a new Grimper. */ - public GrimperHaut(Grimpeur grimpeur) { + public GrimperHaut(Grimpeur grimpeur, Bougie bougie) { this.grimpeur = grimpeur; - addRequirements(grimpeur); + this.bougie = bougie; + addRequirements(grimpeur,bougie); // Use addRequirements() here to declare subsystem dependencies. } @@ -27,9 +30,11 @@ public class GrimperHaut extends Command { if(grimpeur.stop()==true){ grimpeur.grimpe(0); grimpeur.reset(); + bougie.RainBow(); } else{ grimpeur.grimpe(0.5); + bougie.RainBowStop(); } } @@ -37,6 +42,10 @@ public class GrimperHaut extends Command { @Override public void end(boolean interrupted) { grimpeur.grimpe(0); + if(grimpeur.stop()){ + bougie.RainBow(); + } + } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/commands/RainBow.java b/src/main/java/frc/robot/commands/RainBow.java new file mode 100644 index 0000000..37f2d68 --- /dev/null +++ b/src/main/java/frc/robot/commands/RainBow.java @@ -0,0 +1,41 @@ +// 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 edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; + +/* 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 RainBow extends Command { + /** Creates a new RainBow. */ + private Bougie bougie; + public RainBow(Bougie bougie) { + this.bougie = bougie; + addRequirements(bougie); + // 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() { + bougie.RainBow(); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + bougie.RainBowStop(); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java new file mode 100644 index 0000000..9876824 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -0,0 +1,38 @@ +// 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.subsystems; + +import com.ctre.phoenix.led.CANdle; +import com.ctre.phoenix.led.CANdleConfiguration; +import com.ctre.phoenix.led.RainbowAnimation; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Bougie extends SubsystemBase { + CANdle candle = new CANdle(5); + CANdleConfiguration config = new CANdleConfiguration(); + RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); + /** Creates a new Bougie. */ + public Bougie() { + config.brightnessScalar = 0.5; + candle.configAllSettings(config); + } + public void Rouge() { + candle.setLEDs(255, 0, 0); + } + public void Vert() { + candle.setLEDs(0, 255, 0); + } + public void Bleu() { + candle.setLEDs(0, 0, 255); + } + public void RainBow(){candle.animate(rainbowAnim);} + public void RainBowStop(){candle.animate(null);} + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} + From dc36eea3202e40fb002d6efdcd0a60d49ff1f90a Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 19 Feb 2025 17:21:37 -0500 Subject: [PATCH 31/66] requin --- src/main/java/frc/robot/RobotContainer.java | 4 +- .../frc/robot/commands/BalayeuseAlgue.java | 39 ++++++++++--------- .../frc/robot/commands/BalayeuseCoral.java | 34 ++++++++-------- .../java/frc/robot/subsystems/Bougie.java | 2 +- .../java/frc/robot/subsystems/Grimpeur.java | 2 +- .../java/frc/robot/subsystems/Requin.java | 6 +-- 6 files changed, 44 insertions(+), 43 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 71fb150..4949401 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -23,8 +23,8 @@ public class RobotContainer { } private void configureBindings() { - manette2.b().whileTrue(new BalayeuseAlgue(requin,bougie)); - manette2.x().whileTrue(new BalayeuseCoral(requin,bougie)); + manette2.b().whileTrue(new BalayeuseAlgue(requin)); + manette2.x().whileTrue(new BalayeuseCoral(requin)); manette2.y().whileTrue(new L1Requin(requin,bougie)); manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); } diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java index ebab2e7..86bfdb3 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -13,10 +13,10 @@ public class BalayeuseAlgue extends Command { private Requin requin; private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseAlgue(Requin requin,Bougie bougie) { + public BalayeuseAlgue(Requin requin) { this.requin = requin; this.bougie =bougie; - addRequirements(requin, bougie); + addRequirements(requin); // Use addRequirements() here to declare subsystem dependencies. } @@ -27,24 +27,25 @@ public class BalayeuseAlgue extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.encodeur()>=500 && requin.encodeur()<=510){ - requin.rotationer(0); - if(requin.stop()){ - requin.balaye(0); - bougie.Vert(); - } - else{ - requin.balaye(0.5); - } - } - else if(requin.encodeur()>=510){ - requin.rotationer(0.5); - } - else{ - requin.rotationer(-0.5); - } + // if(requin.encodeur()>=500 && requin.encodeur()<=510){ + // requin.rotationer(0); + // if(requin.stop()){ + // requin.balaye(0); + // bougie.Vert(); + // } + // else{ + + requin.balaye(0.5); + // } + // } + // else if(requin.encodeur()>=510){ + // requin.rotationer(0.5); + // } + // else{ + // requin.rotationer(-0.5); + // } - } + } // Called once the command ends or is interrupted. @Override diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java index 35aa9d8..2215b85 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -13,10 +13,10 @@ public class BalayeuseCoral extends Command { private Requin requin; private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseCoral(Requin requin,Bougie bougie) { + public BalayeuseCoral(Requin requin) { this.requin = requin; this.bougie = bougie; - addRequirements(requin,bougie); + addRequirements(requin); // Use addRequirements() here to declare subsystem dependencies. } @@ -27,24 +27,24 @@ public class BalayeuseCoral extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.encodeur()>=100 && requin.encodeur()<=110){ - requin.rotationer(0); - if(requin.stop()){ - requin.balaye(0); - bougie.Vert(); - } - else{ + // if(requin.encodeur()>=100 && requin.encodeur()<=110){ + // requin.rotationer(0); + // if(requin.stop()){ requin.balaye(0.5); + // bougie.Vert(); } - } - else if(requin.encodeur()>=110){ - requin.rotationer(0.5); - } - else{ - requin.rotationer(-0.5); - } + // else{ + // requin.balaye(0.5); + // } + // } + // else if(requin.encodeur()>=110){ + // requin.rotationer(0.5); + // } + // else{ + // requin.rotationer(-0.5); + // } - } + // } // Called once the command ends or is interrupted. @Override diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java index 98bdf49..92d25da 100644 --- a/src/main/java/frc/robot/subsystems/Bougie.java +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Bougie extends SubsystemBase { - CANdle candle = new CANdle(5); + CANdle candle = new CANdle(50); CANdleConfiguration config = new CANdleConfiguration(); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); /** Creates a new Bougie. */ diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index 7e55e0b..09f6528 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final Spark grimpeur = new Spark(0); + final Spark grimpeur = new Spark(16); final DigitalInput limit1 = new DigitalInput(0); public void grimpe(double vitesse){ grimpeur.set(vitesse); diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index ac317dc..418554e 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Requin extends SubsystemBase { /** Creates a new Requin. */ public Requin() {} - final SparkFlex balaye = new SparkFlex(9, MotorType.kBrushless); - final SparkMax rotatione = new SparkMax(10, MotorType.kBrushless); + final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); + final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(4); final DigitalInput limit5 = new DigitalInput(5); public void balaye(double vitesse){ @@ -26,7 +26,7 @@ public class Requin extends SubsystemBase { } public boolean enHaut(){ return limit3.get(); - } + } public boolean stop(){ return limit5.get(); } From 29227dd2f6d6a772d536e8e9cc008d26dba8bd3c Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 20 Feb 2025 20:10:58 -0500 Subject: [PATCH 32/66] code mieux --- .../frc/robot/commands/BalayeuseAlgue.java | 30 +++++++------- .../frc/robot/commands/BalayeuseCoral.java | 38 ++++++++++-------- .../java/frc/robot/commands/ExpireAlgue.java | 40 +++++++++++++++++++ .../java/frc/robot/commands/L1Requin.java | 5 ++- .../java/frc/robot/subsystems/Requin.java | 5 ++- 5 files changed, 84 insertions(+), 34 deletions(-) create mode 100644 src/main/java/frc/robot/commands/ExpireAlgue.java diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java index 86bfdb3..b13cb8a 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -27,23 +27,23 @@ public class BalayeuseAlgue extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - // if(requin.encodeur()>=500 && requin.encodeur()<=510){ - // requin.rotationer(0); - // if(requin.stop()){ - // requin.balaye(0); - // bougie.Vert(); - // } - // else{ + if(requin.encodeur()>=500 && requin.encodeur()<=510){ + requin.rotationer(0); + if(requin.stop()){ + requin.balaye(0); + bougie.Vert(); + } + else{ requin.balaye(0.5); - // } - // } - // else if(requin.encodeur()>=510){ - // requin.rotationer(0.5); - // } - // else{ - // requin.rotationer(-0.5); - // } + } + } + else if(requin.encodeur()>=510){ + requin.rotationer(0.5); + } + else{ + requin.rotationer(-0.5); + } } diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java index 2215b85..34624e2 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -27,24 +27,30 @@ public class BalayeuseCoral extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - // if(requin.encodeur()>=100 && requin.encodeur()<=110){ - // requin.rotationer(0); - // if(requin.stop()){ - requin.balaye(0.5); - // bougie.Vert(); + if(requin.encodeur()>=100 && requin.encodeur()<=110){ + requin.rotationer(0); + if(requin.amp()>8){ + requin.balaye(0); + bougie.Vert(); + if(requin.enHaut()){ + requin.rotationer(0); + } + else{ + requin.rotationer(0.5); + } } - // else{ - // requin.balaye(0.5); - // } - // } - // else if(requin.encodeur()>=110){ - // requin.rotationer(0.5); - // } - // else{ - // requin.rotationer(-0.5); - // } + else{ + requin.balaye(0.5); + } + } + else if(requin.encodeur()>=110){ + requin.rotationer(0.5); + } + else{ + requin.rotationer(-0.5); + } - // } + } // Called once the command ends or is interrupted. @Override diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/ExpireAlgue.java new file mode 100644 index 0000000..3eae23a --- /dev/null +++ b/src/main/java/frc/robot/commands/ExpireAlgue.java @@ -0,0 +1,40 @@ +// 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 edu.wpi.first.wpilibj2.command.Command; +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 ExpireAlgue extends Command { + private Requin requin; + /** Creates a new ExpireAlgue. */ + public ExpireAlgue(Requin requin) { + this.requin = requin; + // 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() { + requin.balaye(0.5); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.balaye(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java index e20b921..3b871ce 100644 --- a/src/main/java/frc/robot/commands/L1Requin.java +++ b/src/main/java/frc/robot/commands/L1Requin.java @@ -27,13 +27,14 @@ public class L1Requin extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { + if(requin.encodeur()>=800 && requin.encodeur()<=810){ requin.rotationer(0); - if(requin.stop()){ + if(requin.amp()>8){ requin.balaye(-0.5); } else{ - requin.balaye(-0.5); + requin.balaye(0); bougie.Rouge(); } } diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index 418554e..c428f18 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -15,7 +15,7 @@ public class Requin extends SubsystemBase { /** Creates a new Requin. */ public Requin() {} final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); - final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless); + final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(4); final DigitalInput limit5 = new DigitalInput(5); public void balaye(double vitesse){ @@ -36,6 +36,9 @@ public class Requin extends SubsystemBase { public void reset(){ rotatione.getEncoder().setPosition(0); } + public double amp(){ + return balaye.getOutputCurrent(); + } @Override public void periodic() { // This method will be called once per scheduler run From 7fd7c666f151c6242ef4282538015cbd66170ba3 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 20 Feb 2025 20:17:45 -0500 Subject: [PATCH 33/66] code mieux --- src/main/java/frc/robot/commands/ExpireAlgue.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/ExpireAlgue.java index 3eae23a..fea308e 100644 --- a/src/main/java/frc/robot/commands/ExpireAlgue.java +++ b/src/main/java/frc/robot/commands/ExpireAlgue.java @@ -13,6 +13,7 @@ public class ExpireAlgue extends Command { /** Creates a new ExpireAlgue. */ public ExpireAlgue(Requin requin) { this.requin = requin; + addRequirements(requin); // Use addRequirements() here to declare subsystem dependencies. } From a09fbcefceab143dd1891e09bb217fde128e40de Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 20 Feb 2025 20:17:56 -0500 Subject: [PATCH 34/66] code mieux --- src/main/java/frc/robot/commands/BalayeuseAlgue.java | 2 +- src/main/java/frc/robot/commands/BalayeuseCoral.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java index b13cb8a..73af5d1 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -16,7 +16,7 @@ public class BalayeuseAlgue extends Command { public BalayeuseAlgue(Requin requin) { this.requin = requin; this.bougie =bougie; - addRequirements(requin); + addRequirements(requin,bougie); // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java index 34624e2..428c895 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -16,7 +16,7 @@ public class BalayeuseCoral extends Command { public BalayeuseCoral(Requin requin) { this.requin = requin; this.bougie = bougie; - addRequirements(requin); + addRequirements(requin,bougie); // Use addRequirements() here to declare subsystem dependencies. } From 0524ec6355fd96ea868629dec3015444ad3281b4 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 22 Feb 2025 10:22:13 -0500 Subject: [PATCH 35/66] oli code mal --- src/main/java/frc/robot/subsystems/Bougie.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java index 92d25da..b4ac253 100644 --- a/src/main/java/frc/robot/subsystems/Bougie.java +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -43,7 +43,8 @@ public class Bougie extends SubsystemBase { candle.setLEDs(255, 215, 0,0,48,8); candle.setLEDs(255, 215, 0,0,64,8); } - public void RainBow(){candle.animate(rainbowAnim);} + public void RainBow(){ + candle.animate(rainbowAnim);} public void RainBowStop(){candle.animate(null);} @Override public void periodic() { From 583413ec5f153b3ed6a7e7891e8ca62536921a73 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 22 Feb 2025 11:44:53 -0500 Subject: [PATCH 36/66] id --- src/main/java/frc/robot/subsystems/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index a67ad2c..d8c06d5 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ public Grimpeur() {} - final SparkMax grimpeur = new SparkMax(10,MotorType.kBrushless); + final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless); final DigitalInput limit1 = new DigitalInput(3); public void grimpe(double vitesse){ grimpeur.set(vitesse); From f9d09106a470720747550f3064589db8a1ca47fc Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 22 Feb 2025 15:21:04 -0500 Subject: [PATCH 37/66] dashboard --- src/main/java/frc/robot/RobotContainer.java | 4 +-- .../frc/robot/commands/BalayeuseAlgue.java | 13 +++++----- .../frc/robot/commands/BalayeuseCoral.java | 4 +-- .../java/frc/robot/subsystems/Bougie.java | 2 +- .../java/frc/robot/subsystems/Grimpeur.java | 26 ------------------- .../java/frc/robot/subsystems/Requin.java | 13 +++++++--- 6 files changed, 21 insertions(+), 41 deletions(-) delete mode 100644 src/main/java/frc/robot/subsystems/Grimpeur.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4949401..3b0141c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -23,8 +23,8 @@ public class RobotContainer { } private void configureBindings() { - manette2.b().whileTrue(new BalayeuseAlgue(requin)); - manette2.x().whileTrue(new BalayeuseCoral(requin)); + manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie)); + manette2.x().whileTrue(new BalayeuseCoral(requin, bougie)); manette2.y().whileTrue(new L1Requin(requin,bougie)); manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); } diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java index 73af5d1..e97fec5 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -13,7 +13,7 @@ public class BalayeuseAlgue extends Command { private Requin requin; private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseAlgue(Requin requin) { + public BalayeuseAlgue(Requin requin, Bougie bougie) { this.requin = requin; this.bougie =bougie; addRequirements(requin,bougie); @@ -27,16 +27,17 @@ public class BalayeuseAlgue extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(requin.encodeur()>=500 && requin.encodeur()<=510){ + if(requin.encodeur()>=500 && requin.encodeur()<=510) + { requin.rotationer(0); - if(requin.stop()){ + if(requin.amp()> 60){ requin.balaye(0); bougie.Vert(); } - else{ - + else + { requin.balaye(0.5); - } + } } else if(requin.encodeur()>=510){ requin.rotationer(0.5); diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java index 428c895..2f53b19 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -13,7 +13,7 @@ public class BalayeuseCoral extends Command { private Requin requin; private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseCoral(Requin requin) { + public BalayeuseCoral(Requin requin, Bougie bougie) { this.requin = requin; this.bougie = bougie; addRequirements(requin,bougie); @@ -29,7 +29,7 @@ public class BalayeuseCoral extends Command { public void execute() { if(requin.encodeur()>=100 && requin.encodeur()<=110){ requin.rotationer(0); - if(requin.amp()>8){ + if(requin.amp()>60){ requin.balaye(0); bougie.Vert(); if(requin.enHaut()){ diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java index b4ac253..53aaa5e 100644 --- a/src/main/java/frc/robot/subsystems/Bougie.java +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Bougie extends SubsystemBase { - CANdle candle = new CANdle(50); + CANdle candle = new CANdle(23); CANdleConfiguration config = new CANdleConfiguration(); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); /** Creates a new Bougie. */ diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java deleted file mode 100644 index 09f6528..0000000 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ /dev/null @@ -1,26 +0,0 @@ -// 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.subsystems; - -import edu.wpi.first.wpilibj.DigitalInput; -import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class Grimpeur extends SubsystemBase { - /** Creates a new Grimpeur. */ - public Grimpeur() {} - final Spark grimpeur = new Spark(16); - final DigitalInput limit1 = new DigitalInput(0); - public void grimpe(double vitesse){ - grimpeur.set(vitesse); - } - final void stop(){ - limit1.get(); - } - @Override - public void periodic() { - // This method will be called once per scheduler run - } -} diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index c428f18..27337a4 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -8,7 +8,11 @@ import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkLowLevel.MotorType; +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.ShuffleboardComponent; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Requin extends SubsystemBase { @@ -17,7 +21,11 @@ public class Requin extends SubsystemBase { final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(4); - final DigitalInput limit5 = new DigitalInput(5); + + GenericEntry teb = Shuffleboard.getTab("teb") + .add("amp",encodeur()) + .getEntry(); + public void balaye(double vitesse){ balaye.set(vitesse); } @@ -27,9 +35,6 @@ public class Requin extends SubsystemBase { public boolean enHaut(){ return limit3.get(); } - public boolean stop(){ - return limit5.get(); - } public double encodeur(){ return rotatione.getEncoder().getPosition(); } From b6d2ffd931e8835027e94e5dd17662538abbc8f6 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 22 Feb 2025 15:28:59 -0500 Subject: [PATCH 38/66] bas --- src/main/java/frc/robot/RobotContainer.java | 2 + .../java/frc/robot/commands/BalayeuseBas.java | 40 +++++++++++++++++++ 2 files changed, 42 insertions(+) create mode 100644 src/main/java/frc/robot/commands/BalayeuseBas.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3b0141c..36e2ee1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.commands.BalayeuseAlgue; +import frc.robot.commands.BalayeuseBas; import frc.robot.commands.BalayeuseCoral; import frc.robot.commands.BalayeuseHaut; import frc.robot.commands.L1Requin; @@ -26,6 +27,7 @@ public class RobotContainer { manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie)); manette2.x().whileTrue(new BalayeuseCoral(requin, bougie)); manette2.y().whileTrue(new L1Requin(requin,bougie)); + manette2.a().whileTrue(new BalayeuseBas(requin)); manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); } diff --git a/src/main/java/frc/robot/commands/BalayeuseBas.java b/src/main/java/frc/robot/commands/BalayeuseBas.java new file mode 100644 index 0000000..6aefaeb --- /dev/null +++ b/src/main/java/frc/robot/commands/BalayeuseBas.java @@ -0,0 +1,40 @@ +// 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 edu.wpi.first.wpilibj2.command.Command; +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 BalayeuseBas extends Command { + private Requin requin; + /** Creates a new Balayeuse. */ + public BalayeuseBas(Requin requin) { + this.requin = requin; + addRequirements(requin); + // 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() { + requin.rotationer(-0.5); + } + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.rotationer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From d538b368a74eee4dfeae95e9d0163fec55c0ebba Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 24 Feb 2025 18:19:06 -0500 Subject: [PATCH 39/66] encodeur baleeuse --- src/main/java/frc/robot/subsystems/Requin.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index 27337a4..1afcd6f 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -23,7 +23,7 @@ public class Requin extends SubsystemBase { final DigitalInput limit3 = new DigitalInput(4); GenericEntry teb = Shuffleboard.getTab("teb") - .add("amp",encodeur()) + .add("encodeurrequationne",encodeur()) .getEntry(); public void balaye(double vitesse){ From 88aa6db0757c84261a4491f71142333bf79b6345 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 25 Feb 2025 17:57:57 -0500 Subject: [PATCH 40/66] limit id --- src/main/java/frc/robot/subsystems/Requin.java | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index 1afcd6f..ffe5a38 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -12,15 +12,18 @@ 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.ShuffleboardComponent; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class Requin extends SubsystemBase { +public class Requin extends SubsystemBase { }; /** Creates a new Requin. */ - public Requin() {} + public Requin() { + + } final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); - final DigitalInput limit3 = new DigitalInput(4); + final DigitalInput limit3 = new DigitalInput(1); GenericEntry teb = Shuffleboard.getTab("teb") .add("encodeurrequationne",encodeur()) From 17f3f697b95ed9ba6ed2a8cc894efc56b4b61c5d Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 25 Feb 2025 18:03:04 -0500 Subject: [PATCH 41/66] dashboard requin --- src/main/java/frc/robot/subsystems/Requin.java | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index ffe5a38..0f343f2 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -16,18 +16,17 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class Requin extends SubsystemBase { }; +public class Requin extends SubsystemBase { /** Creates a new Requin. */ + ShuffleboardTab teb = Shuffleboard.getTab("teb"); public Requin() { - + // teb.addBoolean("limit requin", limit3); } final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(1); - GenericEntry teb = Shuffleboard.getTab("teb") - .add("encodeurrequationne",encodeur()) - .getEntry(); + public void balaye(double vitesse){ balaye.set(vitesse); From 1157bdf76a80ed2477a4e956815977129e0e93ba Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 25 Feb 2025 18:05:00 -0500 Subject: [PATCH 42/66] limit requin --- src/main/java/frc/robot/subsystems/Requin.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index 0f343f2..4252146 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -20,7 +20,7 @@ public class Requin extends SubsystemBase { /** Creates a new Requin. */ ShuffleboardTab teb = Shuffleboard.getTab("teb"); public Requin() { - // teb.addBoolean("limit requin", limit3); + teb.addBoolean("limit requin", this::enHaut); } final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); From cdd304f9e9a381b0c6f66b352cd5117147da046f Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 25 Feb 2025 18:08:14 -0500 Subject: [PATCH 43/66] dashboard requin + nettoyage code --- src/main/java/frc/robot/RobotContainer.java | 11 ++++++----- src/main/java/frc/robot/subsystems/Requin.java | 7 +------ 2 files changed, 7 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 36e2ee1..02b4ec4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,19 +15,20 @@ import frc.robot.commands.L1Requin; import frc.robot.subsystems.Requin; import frc.robot.subsystems.Bougie; public class RobotContainer { - CommandXboxController manette1 = new CommandXboxController(0); - CommandXboxController manette2 = new CommandXboxController(1); - Requin requin = new Requin(); - Bougie bougie = new Bougie(); +CommandXboxController manette1 = new CommandXboxController(0); +CommandXboxController manette2 = new CommandXboxController(1); +Requin requin = new Requin(); +Bougie bougie = new Bougie(); + public RobotContainer() { configureBindings(); } private void configureBindings() { + manette2.a().whileTrue(new BalayeuseBas(requin)); manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie)); manette2.x().whileTrue(new BalayeuseCoral(requin, bougie)); manette2.y().whileTrue(new L1Requin(requin,bougie)); - manette2.a().whileTrue(new BalayeuseBas(requin)); manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); } diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index 4252146..db0e3c4 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -7,13 +7,9 @@ package frc.robot.subsystems; import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkLowLevel.MotorType; - -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.ShuffleboardComponent; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Requin extends SubsystemBase { @@ -22,11 +18,10 @@ public class Requin extends SubsystemBase { public Requin() { teb.addBoolean("limit requin", this::enHaut); } + final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(1); - - public void balaye(double vitesse){ balaye.set(vitesse); From 36c9f0048b9f6302003aca96aaccc9b77814d639 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 25 Feb 2025 20:13:26 -0500 Subject: [PATCH 44/66] manuel --- src/main/java/frc/robot/RobotContainer.java | 1 + .../frc/robot/commands/requin_manuel.java | 44 +++++++++++++++++++ 2 files changed, 45 insertions(+) create mode 100644 src/main/java/frc/robot/commands/requin_manuel.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 02b4ec4..bab63e9 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -22,6 +22,7 @@ Bougie bougie = new Bougie(); public RobotContainer() { configureBindings(); + requin. } private void configureBindings() { diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin_manuel.java new file mode 100644 index 0000000..7f51847 --- /dev/null +++ b/src/main/java/frc/robot/commands/requin_manuel.java @@ -0,0 +1,44 @@ +// 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.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 requin_manuel extends Command { + /** Creates a new requin_manuel. */ + private Requin requin; + private DoubleSupplier x; + public requin_manuel(Requin requin) { + // Use addRequirements() here to declare subsystem dependencies. + this.requin = requin; + addRequirements(requin); + } + + // 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() { + requin.rotationer(x.getAsDouble()); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.rotationer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From 3b372104e4bf7f8ada0a9b8fead4c0b66a9ca14f Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 25 Feb 2025 20:26:23 -0500 Subject: [PATCH 45/66] requin manuel + aspire --- src/main/java/frc/robot/RobotContainer.java | 14 +++++-- src/main/java/frc/robot/commands/aspire.java | 41 ++++++++++++++++++++ 2 files changed, 52 insertions(+), 3 deletions(-) create mode 100644 src/main/java/frc/robot/commands/aspire.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bab63e9..4ecaa11 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,29 +4,37 @@ package frc.robot; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.commands.BalayeuseAlgue; import frc.robot.commands.BalayeuseBas; import frc.robot.commands.BalayeuseCoral; import frc.robot.commands.BalayeuseHaut; import frc.robot.commands.L1Requin; +import frc.robot.commands.aspire; +import frc.robot.commands.requin_manuel; import frc.robot.subsystems.Requin; import frc.robot.subsystems.Bougie; +import frc.robot.commands.aspire; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); Requin requin = new Requin(); Bougie bougie = new Bougie(); - +aspire aspire = new aspire(requin); +requin_manuel requin_manuel = new requin_manuel(requin); public RobotContainer() { configureBindings(); - requin. + requin.setDefaultCommand(new RunCommand(()->{ + requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2)); + }, requin)); } private void configureBindings() { - manette2.a().whileTrue(new BalayeuseBas(requin)); + manette2.a().whileTrue(new aspire(requin)); manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie)); manette2.x().whileTrue(new BalayeuseCoral(requin, bougie)); manette2.y().whileTrue(new L1Requin(requin,bougie)); diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java new file mode 100644 index 0000000..c7f7a42 --- /dev/null +++ b/src/main/java/frc/robot/commands/aspire.java @@ -0,0 +1,41 @@ +// 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 edu.wpi.first.wpilibj2.command.Command; +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 aspire extends Command { + /** Creates a new aspire. */ + private Requin requin; + public aspire(Requin requin) { + // Use addRequirements() here to declare subsystem dependencies. + this.requin = requin; + addRequirements(requin); + } + + // 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() { + requin.balaye(0.5); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.balaye(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From cfc6ba9479b7810de15bb266a63e29b9626c12c0 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 16:53:12 -0500 Subject: [PATCH 46/66] grimpeur manuel --- src/main/java/frc/robot/RobotContainer.java | 4 ++ .../frc/robot/commands/GrimpeurManuel.java | 45 +++++++++++++++++++ 2 files changed, 49 insertions(+) create mode 100644 src/main/java/frc/robot/commands/GrimpeurManuel.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a990732..f42bb51 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,6 +6,7 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.commands.GrimperHaut; import frc.robot.commands.GrimpeurBas; @@ -18,6 +19,9 @@ public class RobotContainer { Grimpeur grimpeur = new Grimpeur(); Bougie bougie = new Bougie(); public RobotContainer() { + grimpeur.setDefaultCommand(RunCommand( + grimpeur.grimpe(manette1.getLeftY()) + ,grimpeur)); configureBindings(); } diff --git a/src/main/java/frc/robot/commands/GrimpeurManuel.java b/src/main/java/frc/robot/commands/GrimpeurManuel.java new file mode 100644 index 0000000..3e2046c --- /dev/null +++ b/src/main/java/frc/robot/commands/GrimpeurManuel.java @@ -0,0 +1,45 @@ +// 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.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 GrimpeurManuel extends Command { + private Grimpeur grimpeur; + private DoubleSupplier x; + /** Creates a new GrimpeurManuel. */ + public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) { + this.grimpeur = grimpeur; + this.x = x; + addRequirements(grimpeur); + // 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() { + grimpeur.grimpe(x.getAsDouble()); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + grimpeur.grimpe(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From 476df088eae9745cc01e837a3484fa0d64b8a053 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 16:54:56 -0500 Subject: [PATCH 47/66] grimpeur manuel --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f42bb51..a1097a4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -19,9 +19,9 @@ public class RobotContainer { Grimpeur grimpeur = new Grimpeur(); Bougie bougie = new Bougie(); public RobotContainer() { - grimpeur.setDefaultCommand(RunCommand( + grimpeur.setDefaultCommand(new RunCommand(()->{ grimpeur.grimpe(manette1.getLeftY()) - ,grimpeur)); + })); configureBindings(); } From 5b80c53963c4eb5a630a723a6c7703fbca849a96 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 16:56:38 -0500 Subject: [PATCH 48/66] grimpeur manuel --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a1097a4..3a3525b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -21,7 +21,7 @@ public class RobotContainer { public RobotContainer() { grimpeur.setDefaultCommand(new RunCommand(()->{ grimpeur.grimpe(manette1.getLeftY()) - })); + },grimpeur)); configureBindings(); } From 7ffeb78c35d8bc9088a4596a252fe1561cc35b35 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 16:57:51 -0500 Subject: [PATCH 49/66] grimpeur manuel --- src/main/java/frc/robot/RobotContainer.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3a3525b..baae4c4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,6 +4,7 @@ package frc.robot; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; @@ -20,8 +21,8 @@ public class RobotContainer { Bougie bougie = new Bougie(); public RobotContainer() { grimpeur.setDefaultCommand(new RunCommand(()->{ - grimpeur.grimpe(manette1.getLeftY()) - },grimpeur)); + grimpeur.grimpe(MathUtil.applyDeadband(manette2.getRightY(), 0.2)); + }, grimpeur)); configureBindings(); } From 77240d255ec42e5085e8e9d41061b9141b47c1a6 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 16:58:50 -0500 Subject: [PATCH 50/66] grimpeur manuel --- src/main/java/frc/robot/RobotContainer.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index baae4c4..4fe2fad 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.commands.GrimperHaut; import frc.robot.commands.GrimpeurBas; +import frc.robot.commands.GrimpeurManuel; import frc.robot.subsystems.Bougie; import frc.robot.subsystems.Grimpeur; @@ -19,9 +20,10 @@ public class RobotContainer { CommandXboxController manette2 = new CommandXboxController(1); Grimpeur grimpeur = new Grimpeur(); Bougie bougie = new Bougie(); + GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette1::getLeftY); public RobotContainer() { grimpeur.setDefaultCommand(new RunCommand(()->{ - grimpeur.grimpe(MathUtil.applyDeadband(manette2.getRightY(), 0.2)); + grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2)); }, grimpeur)); configureBindings(); } From df31291697cb646d9e4177010e2006fa96d2b362 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 17:05:46 -0500 Subject: [PATCH 51/66] limit avec requin manuel --- src/main/java/frc/robot/commands/requin_manuel.java | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin_manuel.java index 7f51847..30d8d7b 100644 --- a/src/main/java/frc/robot/commands/requin_manuel.java +++ b/src/main/java/frc/robot/commands/requin_manuel.java @@ -27,7 +27,12 @@ public class requin_manuel extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - requin.rotationer(x.getAsDouble()); + if(requin.enHaut()){ + requin.rotationer(0); + } + else{ + requin.rotationer(x.getAsDouble()); + } } // Called once the command ends or is interrupted. From 9b86a0b975dfc94e4a8875bab9198f7e3e44ffd4 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 17:23:27 -0500 Subject: [PATCH 52/66] limit avec grimpeur manuel --- src/main/java/frc/robot/commands/GrimpeurManuel.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/GrimpeurManuel.java b/src/main/java/frc/robot/commands/GrimpeurManuel.java index 3e2046c..31a404b 100644 --- a/src/main/java/frc/robot/commands/GrimpeurManuel.java +++ b/src/main/java/frc/robot/commands/GrimpeurManuel.java @@ -28,7 +28,13 @@ public class GrimpeurManuel extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - grimpeur.grimpe(x.getAsDouble()); + if(grimpeur.stop()){ + grimpeur.grimpe(0); + } + else{ + grimpeur.grimpe(x.getAsDouble()); + } + } // Called once the command ends or is interrupted. From abb6d113d08120bee5a5c6b4ba23c0ff1c6c6a70 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 18:39:59 -0500 Subject: [PATCH 53/66] ajout exspire --- src/main/java/frc/robot/RobotContainer.java | 2 + .../frc/robot/commands/BalayeuseHaut.java | 2 +- src/main/java/frc/robot/commands/aspire.java | 2 +- src/main/java/frc/robot/commands/exspire.java | 41 +++++++++++++++++++ 4 files changed, 45 insertions(+), 2 deletions(-) create mode 100644 src/main/java/frc/robot/commands/exspire.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4ecaa11..62a8a21 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,6 +15,7 @@ import frc.robot.commands.BalayeuseCoral; import frc.robot.commands.BalayeuseHaut; import frc.robot.commands.L1Requin; import frc.robot.commands.aspire; +import frc.robot.commands.exspire; import frc.robot.commands.requin_manuel; import frc.robot.subsystems.Requin; import frc.robot.subsystems.Bougie; @@ -35,6 +36,7 @@ requin_manuel requin_manuel = new requin_manuel(requin); private void configureBindings() { manette2.a().whileTrue(new aspire(requin)); + manette2.rightTrigger().whileTrue(new exspire(requin)); manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie)); manette2.x().whileTrue(new BalayeuseCoral(requin, bougie)); manette2.y().whileTrue(new L1Requin(requin,bougie)); diff --git a/src/main/java/frc/robot/commands/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java index ee25627..5bf884f 100644 --- a/src/main/java/frc/robot/commands/BalayeuseHaut.java +++ b/src/main/java/frc/robot/commands/BalayeuseHaut.java @@ -29,7 +29,7 @@ public class BalayeuseHaut extends Command { requin.reset(); } else{ - requin.rotationer(0.5); + requin.rotationer(-0.5); } } diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java index c7f7a42..96ce671 100644 --- a/src/main/java/frc/robot/commands/aspire.java +++ b/src/main/java/frc/robot/commands/aspire.java @@ -24,7 +24,7 @@ public class aspire extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - requin.balaye(0.5); + requin.balaye(0.3); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/exspire.java b/src/main/java/frc/robot/commands/exspire.java new file mode 100644 index 0000000..5229cc9 --- /dev/null +++ b/src/main/java/frc/robot/commands/exspire.java @@ -0,0 +1,41 @@ +// 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 edu.wpi.first.wpilibj2.command.Command; +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 exspire extends Command { + /** Creates a new aspire. */ + private Requin requin; + public exspire(Requin requin) { + // Use addRequirements() here to declare subsystem dependencies. + this.requin = requin; + addRequirements(requin); + } + + // 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() { + requin.balaye(-0.3); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + requin.balaye(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From 63e476c64e2d4c372992919a3c41092e70993d19 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 19:09:33 -0500 Subject: [PATCH 54/66] Grimpeur, Fonctionne --- src/main/java/frc/robot/RobotContainer.java | 20 ++++++---- .../java/frc/robot/commands/GrimpeurBas.java | 8 ++-- .../frc/robot/commands/ResetGrimpeur.java | 39 +++++++++++++++++++ .../java/frc/robot/subsystems/Grimpeur.java | 11 ++++-- 4 files changed, 64 insertions(+), 14 deletions(-) create mode 100644 src/main/java/frc/robot/commands/ResetGrimpeur.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4fe2fad..1b29981 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.commands.GrimperHaut; import frc.robot.commands.GrimpeurBas; import frc.robot.commands.GrimpeurManuel; +import frc.robot.commands.ResetGrimpeur; import frc.robot.subsystems.Bougie; import frc.robot.subsystems.Grimpeur; @@ -20,20 +21,25 @@ public class RobotContainer { CommandXboxController manette2 = new CommandXboxController(1); Grimpeur grimpeur = new Grimpeur(); Bougie bougie = new Bougie(); - GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette1::getLeftY); + GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette2::getLeftY); public RobotContainer() { grimpeur.setDefaultCommand(new RunCommand(()->{ - grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2)); - }, grimpeur)); + if(grimpeur.stop()){ + grimpeur.grimpe(0); + } + else{ + grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2)); + }}, grimpeur)); configureBindings(); } - + private void configureBindings() { - manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie)); - manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur)); + manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie)); + manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur)); + manette2.a().whileTrue(new ResetGrimpeur(grimpeur)); } public Command getAutonomousCommand() { return Commands.print("No autonomous command configured"); } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java index 73cd93f..d6d27f7 100644 --- a/src/main/java/frc/robot/commands/GrimpeurBas.java +++ b/src/main/java/frc/robot/commands/GrimpeurBas.java @@ -24,13 +24,13 @@ public class GrimpeurBas extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(grimpeur.encodeur()>=500 && grimpeur.encodeur()<=510){ + if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){ grimpeur.grimpe(0); } - else if(grimpeur.encodeur()>=510){ - grimpeur.grimpe(0.5); + else if(grimpeur.encodeur()>=-38.5){ + grimpeur.grimpe(-0.5); } - else{grimpeur.grimpe(-0.5); + else{grimpeur.grimpe(0.5); } } diff --git a/src/main/java/frc/robot/commands/ResetGrimpeur.java b/src/main/java/frc/robot/commands/ResetGrimpeur.java new file mode 100644 index 0000000..b4e6978 --- /dev/null +++ b/src/main/java/frc/robot/commands/ResetGrimpeur.java @@ -0,0 +1,39 @@ +// 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 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 ResetGrimpeur extends Command { + private Grimpeur grimpeur; + /** Creates a new ResetGrimpeur. */ + public ResetGrimpeur(Grimpeur grimpeur) { + this.grimpeur = grimpeur; + addRequirements(grimpeur); + // 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() { + grimpeur.reset(); + } + + // 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/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java index d8c06d5..759c4b3 100644 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ b/src/main/java/frc/robot/subsystems/Grimpeur.java @@ -8,14 +8,19 @@ import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkLowLevel.MotorType; import edu.wpi.first.wpilibj.DigitalInput; - +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Grimpeur. */ - public Grimpeur() {} + ShuffleboardTab teb = Shuffleboard.getTab("teb"); + public Grimpeur() { + teb.addBoolean("limit grimpeur", this::stop); + teb.addDouble("encodeur grimpeur", this::encodeur); + } final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless); - final DigitalInput limit1 = new DigitalInput(3); + final DigitalInput limit1 = new DigitalInput(2); public void grimpe(double vitesse){ grimpeur.set(vitesse); } From ff6d88d9dff45953e745c5cd4b8e79552152b551 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 26 Feb 2025 19:42:28 -0500 Subject: [PATCH 55/66] dashboard mieux --- src/main/java/frc/robot/commands/L2.java | 19 +++++++++++++++++-- src/main/java/frc/robot/commands/L3.java | 17 +++++++++++++++-- src/main/java/frc/robot/commands/L4.java | 17 +++++++++++++++-- .../java/frc/robot/commands/StationPince.java | 17 +++++++++++++++-- 4 files changed, 62 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java index 3a201a8..0d11c7f 100644 --- a/src/main/java/frc/robot/commands/L2.java +++ b/src/main/java/frc/robot/commands/L2.java @@ -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{ diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java index 7308950..90d5ddf 100644 --- a/src/main/java/frc/robot/commands/L3.java +++ b/src/main/java/frc/robot/commands/L3.java @@ -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{ diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java index 6612995..e7f7758 100644 --- a/src/main/java/frc/robot/commands/L4.java +++ b/src/main/java/frc/robot/commands/L4.java @@ -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{ diff --git a/src/main/java/frc/robot/commands/StationPince.java b/src/main/java/frc/robot/commands/StationPince.java index 59527d5..bdb69a1 100644 --- a/src/main/java/frc/robot/commands/StationPince.java +++ b/src/main/java/frc/robot/commands/StationPince.java @@ -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{ From 6c389731f40f22b4cb2343bee4cdc4a70df68c72 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 26 Feb 2025 19:47:32 -0500 Subject: [PATCH 56/66] dashboard mieux --- src/main/java/frc/robot/commands/GrimpeurBas.java | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java index d6d27f7..0dddd56 100644 --- a/src/main/java/frc/robot/commands/GrimpeurBas.java +++ b/src/main/java/frc/robot/commands/GrimpeurBas.java @@ -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); From a5f9a28c6f018b3f9a227df6cb453129fefbc2d9 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 26 Feb 2025 19:48:48 -0500 Subject: [PATCH 57/66] touche reset --- src/main/java/frc/robot/RobotContainer.java | 27 ++++++++++++--------- src/main/java/frc/robot/commands/reset.java | 2 +- 2 files changed, 16 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 07aa04f..28f13a8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -48,6 +48,7 @@ import frc.robot.commands.reset; import frc.robot.subsystems.Bougie; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.Elevateur; +import frc.robot.subsystems.Grimpeur; import frc.robot.subsystems.Limelight3; import frc.robot.subsystems.Limelight3G; import frc.robot.subsystems.Pince; @@ -81,9 +82,8 @@ public class RobotContainer { Limelight3G limelight3g = new Limelight3G(); Limelight3 limelight3 = new Limelight3(); Pose2d pose = new Pose2d(); + Grimpeur Grimpeur = new Grimpeur(); - - public RobotContainer() { autoChooser = AutoBuilder.buildAutoChooser("New Auto"); SmartDashboard.putData("Auto Mode", autoChooser); @@ -118,31 +118,34 @@ public class RobotContainer { // manette1 - // reset the field-centric heading on left bumper press + + // reset the field-centric heading on start press manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric())); + + //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)); + + //pince manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightBumper().whileTrue(new StationPince(pince, elevateur)); manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie)); + //manette2 - manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); + + //pince manette2.a().whileTrue(new CorailAspir(pince)); - manette2.start().whileTrue(new reset(elevateur)); manette2.b().whileTrue(new Algue_inspire(pince)); + manette2.start().whileTrue(new reset(elevateur,pince)); + manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); + + //limelight manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); } - - - - // Note that X is defined as forward according to WPILib convention, - // and Y is defined as to the left according to WPILib convention. - - // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/reset.java b/src/main/java/frc/robot/commands/reset.java index d6ba79b..9a61223 100644 --- a/src/main/java/frc/robot/commands/reset.java +++ b/src/main/java/frc/robot/commands/reset.java @@ -15,7 +15,7 @@ public class reset extends Command { /** Creates a new reset. */ private Elevateur elevateur; private Pince pince; - public reset(Elevateur elevateur) { + public reset(Elevateur elevateur, Pince pince) { // Use addRequirements() here to declare subsystem dependencies. this.elevateur = elevateur; this.pince = pince; From 9248eed7243ef5b4c51ae68801b59f6402bedbe9 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 26 Feb 2025 20:12:22 -0500 Subject: [PATCH 58/66] dashboard --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/commands/GrimpeurBas.java | 4 ++-- src/main/java/frc/robot/commands/L2.java | 8 ++++---- src/main/java/frc/robot/commands/L3.java | 8 ++++---- src/main/java/frc/robot/commands/L4.java | 8 ++++---- src/main/java/frc/robot/commands/reset.java | 2 +- 6 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 07aa04f..2d6113b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -130,7 +130,7 @@ public class RobotContainer { //manette2 manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); manette2.a().whileTrue(new CorailAspir(pince)); - manette2.start().whileTrue(new reset(elevateur)); + manette2.start().whileTrue(new reset(elevateur, pince)); manette2.b().whileTrue(new Algue_inspire(pince)); manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java index 0dddd56..7837e24 100644 --- a/src/main/java/frc/robot/commands/GrimpeurBas.java +++ b/src/main/java/frc/robot/commands/GrimpeurBas.java @@ -15,8 +15,8 @@ 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); + private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19); + private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5); /** Creates a new GrimpeurBas. */ public GrimpeurBas(Grimpeur grimpeur) { this.grimpeur = grimpeur; diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java index 0d11c7f..fb6286f 100644 --- a/src/main/java/frc/robot/commands/L2.java +++ b/src/main/java/frc/robot/commands/L2.java @@ -20,10 +20,10 @@ public class L2 extends Command { 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); + 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; diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java index 90d5ddf..43635ac 100644 --- a/src/main/java/frc/robot/commands/L3.java +++ b/src/main/java/frc/robot/commands/L3.java @@ -18,10 +18,10 @@ public class L3 extends Command { 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); + 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; diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java index e7f7758..a2a46d0 100644 --- a/src/main/java/frc/robot/commands/L4.java +++ b/src/main/java/frc/robot/commands/L4.java @@ -18,10 +18,10 @@ public class L4 extends Command { 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); + private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurbasL4").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; diff --git a/src/main/java/frc/robot/commands/reset.java b/src/main/java/frc/robot/commands/reset.java index d6ba79b..9a61223 100644 --- a/src/main/java/frc/robot/commands/reset.java +++ b/src/main/java/frc/robot/commands/reset.java @@ -15,7 +15,7 @@ public class reset extends Command { /** Creates a new reset. */ private Elevateur elevateur; private Pince pince; - public reset(Elevateur elevateur) { + public reset(Elevateur elevateur, Pince pince) { // Use addRequirements() here to declare subsystem dependencies. this.elevateur = elevateur; this.pince = pince; From b31ac996eaf11096687544c30208fda46333024b Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 17:53:14 -0500 Subject: [PATCH 59/66] modif --- src/main/java/frc/robot/RobotContainer.java | 10 +++++----- src/main/java/frc/robot/commands/ElevateurManuel.java | 4 +--- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 28f13a8..d734cbc 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -100,20 +100,20 @@ public class RobotContainer { drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically drivetrain.applyRequest(() -> - drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward) - .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left) - .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left) + drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward) + .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left) + .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left) ) ); // Elevateur manuel drivetrain.registerTelemetry(logger::telemeterize); elevateur.setDefaultCommand(new RunCommand(()->{ - elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1)); + elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1)); }, elevateur)); //Pince manuel pince.setDefaultCommand(new RunCommand(()->{ - pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1)); + pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1)); }, pince)); diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/ElevateurManuel.java index eca4068..f86268a 100644 --- a/src/main/java/frc/robot/commands/ElevateurManuel.java +++ b/src/main/java/frc/robot/commands/ElevateurManuel.java @@ -28,9 +28,7 @@ public class ElevateurManuel extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(elevateur.limit2()==true){ - elevateur.vitesse(0); - } + if (elevateur.limit2()) elevateur.vitesse(doubleSupplier.getAsDouble()/3.5); } From de25aa57301e720b3c608aa9fe6b818837e770bc Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 18:02:26 -0500 Subject: [PATCH 60/66] dossier Classement --- src/main/java/frc/robot/RobotContainer.java | 13 +++++-------- .../frc/robot/commands/{ => Pince}/Algue1Test.java | 2 +- .../frc/robot/commands/{ => Pince}/Algue2Test.java | 2 +- .../frc/robot/commands/{ => Pince}/AlgueExpire.java | 2 +- .../robot/commands/{ => Pince}/Algue_inspire.java | 2 +- .../frc/robot/commands/{ => Pince}/CorailAspir.java | 2 +- .../frc/robot/commands/{ => Pince}/CorailTest.java | 2 +- .../commands/{ => Pince}/CoralAlgueInspire.java | 2 +- .../frc/robot/commands/{ => Pince}/CoralExpire.java | 2 +- 9 files changed, 13 insertions(+), 16 deletions(-) rename src/main/java/frc/robot/commands/{ => Pince}/Algue1Test.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/Algue2Test.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/AlgueExpire.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/Algue_inspire.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/CorailAspir.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/CorailTest.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/CoralAlgueInspire.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/CoralExpire.java (97%) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index df211a1..abee378 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -24,16 +24,8 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.TunerConstants.TunerConstants; -import frc.robot.commands.Algue1Test; -import frc.robot.commands.Algue2Test; -import frc.robot.commands.AlgueExpire; -import frc.robot.commands.Algue_inspire; import frc.robot.commands.AprilTag3; import frc.robot.commands.AprilTag3G; -import frc.robot.commands.CorailAspir; -import frc.robot.commands.CorailTest; -import frc.robot.commands.CoralAlgueInspire; -import frc.robot.commands.CoralExpire; import frc.robot.commands.Depart; import frc.robot.commands.ElevateurManuel; import frc.robot.commands.Forme3; @@ -45,6 +37,11 @@ import frc.robot.commands.PinceManuel2; import frc.robot.commands.RainBow; import frc.robot.commands.StationPince; import frc.robot.commands.reset; +import frc.robot.commands.Pince.AlgueExpire; +import frc.robot.commands.Pince.Algue_inspire; +import frc.robot.commands.Pince.CorailAspir; +import frc.robot.commands.Pince.CoralAlgueInspire; +import frc.robot.commands.Pince.CoralExpire; import frc.robot.subsystems.Bougie; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.Elevateur; diff --git a/src/main/java/frc/robot/commands/Algue1Test.java b/src/main/java/frc/robot/commands/Pince/Algue1Test.java similarity index 97% rename from src/main/java/frc/robot/commands/Algue1Test.java rename to src/main/java/frc/robot/commands/Pince/Algue1Test.java index f79faa6..ab5e886 100644 --- a/src/main/java/frc/robot/commands/Algue1Test.java +++ b/src/main/java/frc/robot/commands/Pince/Algue1Test.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; diff --git a/src/main/java/frc/robot/commands/Algue2Test.java b/src/main/java/frc/robot/commands/Pince/Algue2Test.java similarity index 97% rename from src/main/java/frc/robot/commands/Algue2Test.java rename to src/main/java/frc/robot/commands/Pince/Algue2Test.java index 5f0e758..386e4f1 100644 --- a/src/main/java/frc/robot/commands/Algue2Test.java +++ b/src/main/java/frc/robot/commands/Pince/Algue2Test.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; diff --git a/src/main/java/frc/robot/commands/AlgueExpire.java b/src/main/java/frc/robot/commands/Pince/AlgueExpire.java similarity index 97% rename from src/main/java/frc/robot/commands/AlgueExpire.java rename to src/main/java/frc/robot/commands/Pince/AlgueExpire.java index 49606d7..ebaac37 100644 --- a/src/main/java/frc/robot/commands/AlgueExpire.java +++ b/src/main/java/frc/robot/commands/Pince/AlgueExpire.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; diff --git a/src/main/java/frc/robot/commands/Algue_inspire.java b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java similarity index 97% rename from src/main/java/frc/robot/commands/Algue_inspire.java rename to src/main/java/frc/robot/commands/Pince/Algue_inspire.java index f3e3bdf..d184827 100644 --- a/src/main/java/frc/robot/commands/Algue_inspire.java +++ b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; diff --git a/src/main/java/frc/robot/commands/CorailAspir.java b/src/main/java/frc/robot/commands/Pince/CorailAspir.java similarity index 97% rename from src/main/java/frc/robot/commands/CorailAspir.java rename to src/main/java/frc/robot/commands/Pince/CorailAspir.java index 8199c75..ae3753b 100644 --- a/src/main/java/frc/robot/commands/CorailAspir.java +++ b/src/main/java/frc/robot/commands/Pince/CorailAspir.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; diff --git a/src/main/java/frc/robot/commands/CorailTest.java b/src/main/java/frc/robot/commands/Pince/CorailTest.java similarity index 97% rename from src/main/java/frc/robot/commands/CorailTest.java rename to src/main/java/frc/robot/commands/Pince/CorailTest.java index 5e947d2..ba33689 100644 --- a/src/main/java/frc/robot/commands/CorailTest.java +++ b/src/main/java/frc/robot/commands/Pince/CorailTest.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; diff --git a/src/main/java/frc/robot/commands/CoralAlgueInspire.java b/src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java similarity index 97% rename from src/main/java/frc/robot/commands/CoralAlgueInspire.java rename to src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java index b64185b..29a21a3 100644 --- a/src/main/java/frc/robot/commands/CoralAlgueInspire.java +++ b/src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; diff --git a/src/main/java/frc/robot/commands/CoralExpire.java b/src/main/java/frc/robot/commands/Pince/CoralExpire.java similarity index 97% rename from src/main/java/frc/robot/commands/CoralExpire.java rename to src/main/java/frc/robot/commands/Pince/CoralExpire.java index 0879f50..13293c6 100644 --- a/src/main/java/frc/robot/commands/CoralExpire.java +++ b/src/main/java/frc/robot/commands/Pince/CoralExpire.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; From 7c101a6eed5a08bab34b0b14d138782ef6e96702 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Thu, 27 Feb 2025 18:06:28 -0500 Subject: [PATCH 61/66] dashboard --- src/main/java/frc/robot/commands/L4.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java index a2a46d0..c3d610b 100644 --- a/src/main/java/frc/robot/commands/L4.java +++ b/src/main/java/frc/robot/commands/L4.java @@ -5,6 +5,7 @@ package frc.robot.commands; 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.wpilibj2.command.Command; @@ -16,9 +17,10 @@ import frc.robot.subsystems.Pince; public class L4 extends Command { private Elevateur elevateur; private Pince pince; -NetworkTableInstance networktable = NetworkTableInstance.getDefault(); + NetworkTableInstance networktable = NetworkTableInstance.getDefault(); NetworkTable tabelevateur = networktable.getTable("tabelevateur"); - private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurbasL4").subscribe(-6.4); + 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); @@ -26,6 +28,7 @@ NetworkTableInstance networktable = NetworkTableInstance.getDefault(); 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. } From c8e94563ad50d74dabd8d96a94d997b66c01625b Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Thu, 27 Feb 2025 18:26:10 -0500 Subject: [PATCH 62/66] dashboard pas --- src/main/java/frc/robot/commands/L2.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java index fb6286f..65c8d18 100644 --- a/src/main/java/frc/robot/commands/L2.java +++ b/src/main/java/frc/robot/commands/L2.java @@ -4,8 +4,6 @@ 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; @@ -18,6 +16,7 @@ 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); From b7eecbaea95e26aaca16c340d9622ff0a1407dae Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 18:33:08 -0500 Subject: [PATCH 63/66] Menage pour mieu se trouver --- src/main/java/frc/robot/RobotContainer.java | 12 ++--- src/main/java/frc/robot/commands/Depart.java | 2 +- .../{ => Elevateur}/ElevateurManuel.java | 2 +- .../robot/commands/{ => Elevateur}/L2.java | 5 +- .../robot/commands/{ => Elevateur}/L3.java | 2 +- .../robot/commands/{ => Elevateur}/L4.java | 2 +- .../commands/{ => Pince}/DepartPince.java | 2 +- .../commands/{ => Pince}/PinceManuel.java | 2 +- .../java/frc/robot/commands/PinceManuel2.java | 47 ------------------- .../commands/{ => grimpeur}/GrimperHaut.java | 2 +- .../commands/{ => grimpeur}/GrimpeurBas.java | 2 +- .../{ => grimpeur}/GrimpeurManuel.java | 2 +- .../{ => grimpeur}/ResetGrimpeur.java | 2 +- 13 files changed, 16 insertions(+), 68 deletions(-) rename src/main/java/frc/robot/commands/{ => Elevateur}/ElevateurManuel.java (97%) rename src/main/java/frc/robot/commands/{ => Elevateur}/L2.java (97%) rename src/main/java/frc/robot/commands/{ => Elevateur}/L3.java (98%) rename src/main/java/frc/robot/commands/{ => Elevateur}/L4.java (98%) rename src/main/java/frc/robot/commands/{ => Pince}/DepartPince.java (97%) rename src/main/java/frc/robot/commands/{ => Pince}/PinceManuel.java (97%) delete mode 100644 src/main/java/frc/robot/commands/PinceManuel2.java rename src/main/java/frc/robot/commands/{ => grimpeur}/GrimperHaut.java (97%) rename src/main/java/frc/robot/commands/{ => grimpeur}/GrimpeurBas.java (98%) rename src/main/java/frc/robot/commands/{ => grimpeur}/GrimpeurManuel.java (97%) rename src/main/java/frc/robot/commands/{ => grimpeur}/ResetGrimpeur.java (97%) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index abee378..69953ad 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,21 +27,20 @@ import frc.robot.TunerConstants.TunerConstants; import frc.robot.commands.AprilTag3; import frc.robot.commands.AprilTag3G; import frc.robot.commands.Depart; -import frc.robot.commands.ElevateurManuel; import frc.robot.commands.Forme3; -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.RainBow; import frc.robot.commands.StationPince; import frc.robot.commands.reset; +import frc.robot.commands.Elevateur.ElevateurManuel; +import frc.robot.commands.Elevateur.L2; +import frc.robot.commands.Elevateur.L3; +import frc.robot.commands.Elevateur.L4; import frc.robot.commands.Pince.AlgueExpire; import frc.robot.commands.Pince.Algue_inspire; import frc.robot.commands.Pince.CorailAspir; import frc.robot.commands.Pince.CoralAlgueInspire; import frc.robot.commands.Pince.CoralExpire; +import frc.robot.commands.Pince.PinceManuel; import frc.robot.subsystems.Bougie; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.Elevateur; @@ -74,7 +73,6 @@ public class RobotContainer { Pince pince = new Pince(); ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY); PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY); - PinceManuel2 pinceManuel2 = new PinceManuel2(pince); Bougie bougie = new Bougie(); Limelight3G limelight3g = new Limelight3G(); Limelight3 limelight3 = new Limelight3(); diff --git a/src/main/java/frc/robot/commands/Depart.java b/src/main/java/frc/robot/commands/Depart.java index f5322dd..f624039 100644 --- a/src/main/java/frc/robot/commands/Depart.java +++ b/src/main/java/frc/robot/commands/Depart.java @@ -47,6 +47,6 @@ public class Depart extends Command { // Returns true when the command should end. @Override public boolean isFinished() { - return elevateur.limit2()==true; + return elevateur.limit2() == true; } } diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java similarity index 97% rename from src/main/java/frc/robot/commands/ElevateurManuel.java rename to src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java index f86268a..682fdc6 100644 --- a/src/main/java/frc/robot/commands/ElevateurManuel.java +++ b/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Elevateur; import java.util.function.DoubleSupplier; diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/Elevateur/L2.java similarity index 97% rename from src/main/java/frc/robot/commands/L2.java rename to src/main/java/frc/robot/commands/Elevateur/L2.java index fb6286f..936771c 100644 --- a/src/main/java/frc/robot/commands/L2.java +++ b/src/main/java/frc/robot/commands/Elevateur/L2.java @@ -2,10 +2,7 @@ // 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; - +package frc.robot.commands.Elevateur; import edu.wpi.first.networktables.DoubleSubscriber; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableInstance; diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/Elevateur/L3.java similarity index 98% rename from src/main/java/frc/robot/commands/L3.java rename to src/main/java/frc/robot/commands/Elevateur/L3.java index 43635ac..b653c77 100644 --- a/src/main/java/frc/robot/commands/L3.java +++ b/src/main/java/frc/robot/commands/Elevateur/L3.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Elevateur; import edu.wpi.first.networktables.DoubleSubscriber; import edu.wpi.first.networktables.NetworkTable; diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/Elevateur/L4.java similarity index 98% rename from src/main/java/frc/robot/commands/L4.java rename to src/main/java/frc/robot/commands/Elevateur/L4.java index a2a46d0..58697c5 100644 --- a/src/main/java/frc/robot/commands/L4.java +++ b/src/main/java/frc/robot/commands/Elevateur/L4.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Elevateur; import edu.wpi.first.networktables.DoubleSubscriber; import edu.wpi.first.networktables.NetworkTable; diff --git a/src/main/java/frc/robot/commands/DepartPince.java b/src/main/java/frc/robot/commands/Pince/DepartPince.java similarity index 97% rename from src/main/java/frc/robot/commands/DepartPince.java rename to src/main/java/frc/robot/commands/Pince/DepartPince.java index 12a69dd..bdfc343 100644 --- a/src/main/java/frc/robot/commands/DepartPince.java +++ b/src/main/java/frc/robot/commands/Pince/DepartPince.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Pince; diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/Pince/PinceManuel.java similarity index 97% rename from src/main/java/frc/robot/commands/PinceManuel.java rename to src/main/java/frc/robot/commands/Pince/PinceManuel.java index 5b8b2c0..1382d39 100644 --- a/src/main/java/frc/robot/commands/PinceManuel.java +++ b/src/main/java/frc/robot/commands/Pince/PinceManuel.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Pince; import java.util.function.DoubleSupplier; import edu.wpi.first.wpilibj2.command.Command; diff --git a/src/main/java/frc/robot/commands/PinceManuel2.java b/src/main/java/frc/robot/commands/PinceManuel2.java deleted file mode 100644 index bf8d1e4..0000000 --- a/src/main/java/frc/robot/commands/PinceManuel2.java +++ /dev/null @@ -1,47 +0,0 @@ -// 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 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) { - pince.pivote(0); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/commands/GrimperHaut.java b/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java similarity index 97% rename from src/main/java/frc/robot/commands/GrimperHaut.java rename to src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java index ad0ebf0..ce3f65a 100644 --- a/src/main/java/frc/robot/commands/GrimperHaut.java +++ b/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.grimpeur; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java similarity index 98% rename from src/main/java/frc/robot/commands/GrimpeurBas.java rename to src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java index 7837e24..4dfc3b0 100644 --- a/src/main/java/frc/robot/commands/GrimpeurBas.java +++ b/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.grimpeur; import edu.wpi.first.networktables.DoubleSubscriber; import edu.wpi.first.networktables.NetworkTable; diff --git a/src/main/java/frc/robot/commands/GrimpeurManuel.java b/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java similarity index 97% rename from src/main/java/frc/robot/commands/GrimpeurManuel.java rename to src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java index 31a404b..60fdace 100644 --- a/src/main/java/frc/robot/commands/GrimpeurManuel.java +++ b/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.grimpeur; import java.util.function.DoubleSupplier; diff --git a/src/main/java/frc/robot/commands/ResetGrimpeur.java b/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java similarity index 97% rename from src/main/java/frc/robot/commands/ResetGrimpeur.java rename to src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java index b4e6978..5bf0bea 100644 --- a/src/main/java/frc/robot/commands/ResetGrimpeur.java +++ b/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.grimpeur; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Grimpeur; From 82970eb6bde3f95942de9d308de668098d633590 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 18:39:15 -0500 Subject: [PATCH 64/66] dossier requin --- .../java/frc/robot/commands/{ => requin}/BalayeuseAlgue.java | 2 +- src/main/java/frc/robot/commands/{ => requin}/BalayeuseBas.java | 2 +- .../java/frc/robot/commands/{ => requin}/BalayeuseCoral.java | 2 +- .../java/frc/robot/commands/{ => requin}/BalayeuseHaut.java | 2 +- src/main/java/frc/robot/commands/{ => requin}/ExpireAlgue.java | 2 +- src/main/java/frc/robot/commands/{ => requin}/L1Requin.java | 2 +- src/main/java/frc/robot/commands/{ => requin}/aspire.java | 2 +- src/main/java/frc/robot/commands/{ => requin}/exspire.java | 2 +- .../java/frc/robot/commands/{ => requin}/requin_manuel.java | 2 +- 9 files changed, 9 insertions(+), 9 deletions(-) rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseAlgue.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseBas.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseCoral.java (98%) rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseHaut.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/ExpireAlgue.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/L1Requin.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/aspire.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/exspire.java (97%) rename src/main/java/frc/robot/commands/{ => requin}/requin_manuel.java (97%) diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java similarity index 97% rename from src/main/java/frc/robot/commands/BalayeuseAlgue.java rename to src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java index e97fec5..212583b 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; diff --git a/src/main/java/frc/robot/commands/BalayeuseBas.java b/src/main/java/frc/robot/commands/requin/BalayeuseBas.java similarity index 97% rename from src/main/java/frc/robot/commands/BalayeuseBas.java rename to src/main/java/frc/robot/commands/requin/BalayeuseBas.java index 6aefaeb..67d0687 100644 --- a/src/main/java/frc/robot/commands/BalayeuseBas.java +++ b/src/main/java/frc/robot/commands/requin/BalayeuseBas.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java similarity index 98% rename from src/main/java/frc/robot/commands/BalayeuseCoral.java rename to src/main/java/frc/robot/commands/requin/BalayeuseCoral.java index 2f53b19..5b12ada 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; diff --git a/src/main/java/frc/robot/commands/BalayeuseHaut.java b/src/main/java/frc/robot/commands/requin/BalayeuseHaut.java similarity index 97% rename from src/main/java/frc/robot/commands/BalayeuseHaut.java rename to src/main/java/frc/robot/commands/requin/BalayeuseHaut.java index 5bf884f..eea2d7d 100644 --- a/src/main/java/frc/robot/commands/BalayeuseHaut.java +++ b/src/main/java/frc/robot/commands/requin/BalayeuseHaut.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/requin/ExpireAlgue.java similarity index 97% rename from src/main/java/frc/robot/commands/ExpireAlgue.java rename to src/main/java/frc/robot/commands/requin/ExpireAlgue.java index fea308e..679c6ce 100644 --- a/src/main/java/frc/robot/commands/ExpireAlgue.java +++ b/src/main/java/frc/robot/commands/requin/ExpireAlgue.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/requin/L1Requin.java similarity index 97% rename from src/main/java/frc/robot/commands/L1Requin.java rename to src/main/java/frc/robot/commands/requin/L1Requin.java index 3b871ce..1a7d127 100644 --- a/src/main/java/frc/robot/commands/L1Requin.java +++ b/src/main/java/frc/robot/commands/requin/L1Requin.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/requin/aspire.java similarity index 97% rename from src/main/java/frc/robot/commands/aspire.java rename to src/main/java/frc/robot/commands/requin/aspire.java index 96ce671..5105d83 100644 --- a/src/main/java/frc/robot/commands/aspire.java +++ b/src/main/java/frc/robot/commands/requin/aspire.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/commands/exspire.java b/src/main/java/frc/robot/commands/requin/exspire.java similarity index 97% rename from src/main/java/frc/robot/commands/exspire.java rename to src/main/java/frc/robot/commands/requin/exspire.java index 5229cc9..9c57fe0 100644 --- a/src/main/java/frc/robot/commands/exspire.java +++ b/src/main/java/frc/robot/commands/requin/exspire.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Requin; diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin/requin_manuel.java similarity index 97% rename from src/main/java/frc/robot/commands/requin_manuel.java rename to src/main/java/frc/robot/commands/requin/requin_manuel.java index 30d8d7b..9a3fa3d 100644 --- a/src/main/java/frc/robot/commands/requin_manuel.java +++ b/src/main/java/frc/robot/commands/requin/requin_manuel.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.requin; import java.util.function.DoubleSupplier; From 95f4f74a47c66be0e21e78e8c5c964e12ee6de17 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 18:42:03 -0500 Subject: [PATCH 65/66] modification depart --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../java/frc/robot/commands/{ => Elevateur}/Depart.java | 7 ++----- 2 files changed, 3 insertions(+), 6 deletions(-) rename src/main/java/frc/robot/commands/{ => Elevateur}/Depart.java (91%) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 69953ad..353bf56 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -26,11 +26,11 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.TunerConstants.TunerConstants; import frc.robot.commands.AprilTag3; import frc.robot.commands.AprilTag3G; -import frc.robot.commands.Depart; import frc.robot.commands.Forme3; import frc.robot.commands.RainBow; import frc.robot.commands.StationPince; import frc.robot.commands.reset; +import frc.robot.commands.Elevateur.Depart; import frc.robot.commands.Elevateur.ElevateurManuel; import frc.robot.commands.Elevateur.L2; import frc.robot.commands.Elevateur.L3; diff --git a/src/main/java/frc/robot/commands/Depart.java b/src/main/java/frc/robot/commands/Elevateur/Depart.java similarity index 91% rename from src/main/java/frc/robot/commands/Depart.java rename to src/main/java/frc/robot/commands/Elevateur/Depart.java index f624039..56f684b 100644 --- a/src/main/java/frc/robot/commands/Depart.java +++ b/src/main/java/frc/robot/commands/Elevateur/Depart.java @@ -2,7 +2,7 @@ // 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; +package frc.robot.commands.Elevateur; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Elevateur; @@ -11,12 +11,10 @@ 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 Depart extends Command { private Elevateur elevateur; - private Pince pince; /** Creates a new L2. */ public Depart(Elevateur elevateur, Pince pince) { - this.pince = pince; this.elevateur = elevateur; - addRequirements(elevateur,pince); + addRequirements(elevateur); // Use addRequirements() here to declare subsystem dependencies. } @@ -41,7 +39,6 @@ public class Depart extends Command { @Override public void end(boolean interrupted) { elevateur.vitesse(0); - pince.pivote(0); } // Returns true when the command should end. From b0e09988a30a6f693825aebe466b95322330e03b Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 18:47:46 -0500 Subject: [PATCH 66/66] modification elevateur manuel pour limit switch --- src/main/java/frc/robot/RobotContainer.java | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 353bf56..266d36c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -103,7 +103,12 @@ public class RobotContainer { // Elevateur manuel drivetrain.registerTelemetry(logger::telemeterize); elevateur.setDefaultCommand(new RunCommand(()->{ - elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1)); + if(elevateur.limit2()){ + elevateur.vitesse(0); + } + else{ + elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftX(), 0.1)); + } }, elevateur)); //Pince manuel