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This commit is contained in:
Antoine PerreaultE 2025-03-01 13:53:13 -05:00
parent 30b0ad39f0
commit d1f9d55c3a
19 changed files with 95 additions and 94 deletions
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27
src/main/java/frc/robot/RobotContainer.java
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@ -41,9 +41,17 @@ 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.commands.grimpeur.GrimperHaut;
import frc.robot.commands.grimpeur.GrimpeurBas;
import frc.robot.commands.grimpeur.GrimpeurManuelhaut;
import frc.robot.commands.grimpeur.ResetGrimpeur;
import frc.robot.commands.requin.BalayeuseAlgue;
import frc.robot.commands.requin.BalayeuseBas;
import frc.robot.commands.requin.BalayeuseCoral;
import frc.robot.commands.requin.BalayeuseHaut;
import frc.robot.commands.requin.ExpireAlgue;
import frc.robot.commands.requin.L1Requin;
import frc.robot.commands.requin.aspire;
import frc.robot.commands.requin.exspire;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@ -84,7 +92,7 @@ public class RobotContainer {
Pose2d pose = new Pose2d();
Grimpeur Grimpeur = new Grimpeur();
Requin requin = new Requin();
CorailAspir corailAspir = new CorailAspir(pince, bougie);
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
@ -117,7 +125,7 @@ public class RobotContainer {
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new AlgueExpire(pince, bougie));
//elevateur
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
@ -128,11 +136,12 @@ public class RobotContainer {
//requin
manette2.a().whileTrue(new CorailAspir(pince,bougie));
manette2.b().whileTrue(new Algue_inspire(pince,bougie));
manette2.y().whileTrue(new BalayeuseHaut(requin));
manette2.x().whileTrue(new BalayeuseBas(requin));
manette2.rightTrigger().whileTrue(new exspire(requin,bougie));
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.y().whileTrue(new BalayeuseAlgue(requin,bougie));
manette2.x().whileTrue(new BalayeuseHaut(requin));
manette2.rightTrigger().whileTrue(new ExpireAlgue(requin, bougie));
manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
manette1.povUp().whileTrue(new L1Requin(requin, bougie));
manette2.povUp().whileTrue(new aspire(requin, bougie));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
@ -149,8 +158,10 @@ public class RobotContainer {
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince));
//grimpeur manuel
//grimpeur
manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
}
public Command getAutonomousCommand() {

2
src/main/java/frc/robot/commands/Elevateur/Depart.java
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@ -30,7 +30,7 @@ public class Depart extends Command {
elevateur.reset();
}
else{
elevateur.vitesse(.5);
elevateur.vitesse(.3);
}
}

25
src/main/java/frc/robot/commands/Elevateur/L2.java
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@ -26,24 +26,15 @@ public class L2 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL2bas() && elevateur.position()>=elevateur.encodeurelevateurL2haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=elevateur.encodeurelevateurL2bas()){
elevateur.vitesse(-0.2);
}
else{
elevateur.vitesse(.2);
// }
// if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
// pince.pivote(0);
if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=510){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
}
else if(pince.encodeurpivot()>=16){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}

22
src/main/java/frc/robot/commands/Elevateur/L3.java
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@ -32,20 +32,20 @@ public class L3 extends Command {
elevateur.vitesse(0);
}
else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
elevateur.vitesse(-0.2);
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.2);
elevateur.vitesse(0.5);
}
// if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=710){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
// }
if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=16){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}
// Called once the command ends or is interrupted.

23
src/main/java/frc/robot/commands/Elevateur/L4.java
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@ -29,22 +29,23 @@ public class L4 extends Command {
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
elevateur.vitesse(-0.2);
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.2);
elevateur.vitesse(.5);
}
// if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=810){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
// }
if(pince.encodeurpivot()>=21.76 && pince.encodeurpivot()<=22.3){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=22.3){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}
// Called once the command ends or is interrupted.

17
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@ -31,23 +31,14 @@ public class StationPince extends Command {
@Override
public void execute() {
pince.aspirecoral(0.5);
if(pince.encodeurpivot()<=elevateur.encodeurelevateurstationbas() && pince.encodeurpivot()>=elevateur.encodeurelevateurstationhaut()){
if(pince.encodeurpivot()<=9.8 && pince.encodeurpivot()>=12){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=elevateur.encodeurelevateurstationbas()){
pince.pivote(0.2);
else if(pince.encodeurpivot()>=9.8){
pince.pivote(-0.1);
}
else{
pince.pivote(-0.2);
}
if(elevateur.position()>=400 && elevateur.position()<=410){
elevateur.vitesse(0);
}
else if(elevateur.position()>=410){
elevateur.vitesse(0.3);
}
else{
elevateur.vitesse(-.3);
pince.pivote(0.1);
}
}

4
src/main/java/frc/robot/commands/Limelight/AprilTag3G.java
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@ -48,10 +48,10 @@ public class AprilTag3G extends Command {
double a = limelight3g.getX();
if(limelight3g.getV() == true){
drivetrain.setControl(drive.
withRotationalRate(-a/5).
withRotationalRate(-a/7).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/5);
System.out.println(a/7);
}
else{
drivetrain.setControl(drive.

9
src/main/java/frc/robot/commands/Pince/CorailAspir.java
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@ -27,11 +27,14 @@ public class CorailAspir extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.emperagecoral() > 60){
if(pince.emperagecoral() > 15){
pince.aspirecoral(0);
bougie.Bleu();
}
pince.aspirecoral(0.5);
else{
pince.aspirecoral(0.5);
}
}
// Called once the command ends or is interrupted.
@ -43,6 +46,6 @@ public class CorailAspir extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
return pince.emperagecoral()>13;
}
}

4
src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
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@ -23,10 +23,10 @@ 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){
if(grimpeur.encodeur()>=-43.3 && grimpeur.encodeur()<=-42.5){
grimpeur.grimpe(0);
}
else if(grimpeur.encodeur()>=-38.5){
else if(grimpeur.encodeur()>=-43.3){
grimpeur.grimpe(-0.5);
}
else{grimpeur.grimpe(0.5);

6
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
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@ -27,7 +27,7 @@ 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()<=715 && requin.encodeur()>=700)
{
requin.rotationer(0);
if(requin.amp()> 60){
@ -36,10 +36,10 @@ public class BalayeuseAlgue extends Command {
}
else
{
requin.balaye(0.5);
requin.balaye(-0.5);
}
}
else if(requin.encodeur()>=510){
else if(requin.encodeur()>=700){
requin.rotationer(0.5);
}
else{

2
src/main/java/frc/robot/commands/requin/BalayeuseBas.java
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@ -24,7 +24,7 @@ public class BalayeuseBas extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.rotationer(-0.5);
requin.rotationer(0.5);
}
// Called once the command ends or is interrupted.
@Override

10
src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
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@ -27,7 +27,7 @@ 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){
if(requin.encodeur()<=1200 && requin.encodeur()>=1050){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(0);
@ -36,18 +36,18 @@ public class BalayeuseCoral extends Command {
requin.rotationer(0);
}
else{
requin.rotationer(0.5);
requin.rotationer(-0.5);
}
}
else{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=110){
requin.rotationer(0.5);
else if(requin.encodeur()>=1200){
requin.rotationer(-0.5);
}
else{
requin.rotationer(-0.5);
requin.rotationer(0.5);
}
}

8
src/main/java/frc/robot/commands/requin/L1Requin.java
View File

@ -28,7 +28,7 @@ public class L1Requin extends Command {
@Override
public void execute() {
if(requin.encodeur()>=800 && requin.encodeur()<=810){
if(requin.encodeur()<=645 && requin.encodeur()>=600){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(-0.5);
@ -38,11 +38,11 @@ public class L1Requin extends Command {
bougie.Rouge();
}
}
else if(requin.encodeur()>=810){
requin.rotationer(0.5);
else if(requin.encodeur()>=645){
requin.rotationer(-0.5);
}
else{
requin.rotationer(-0.5);
requin.rotationer(0.5);
}

2
src/main/java/frc/robot/commands/requin/aspire.java
View File

@ -33,7 +33,7 @@ public class aspire extends Command {
}
else
{
requin.balaye(0.5);
requin.balaye(-0.5);
}
}

4
src/main/java/frc/robot/commands/requin/exspire.java
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@ -30,12 +30,12 @@ public class exspire extends Command {
@Override
public void execute() {
if(requin.amp()> 60){
requin.balaye(-0.5);
requin.balaye(0.5);
}
else
{
bougie.Rouge();
requin.balaye(-0.5);
requin.balaye(0.5);
}
}

16
src/main/java/frc/robot/subsystems/Elevateur.java
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@ -18,13 +18,13 @@ public class Elevateur extends SubsystemBase {
private GenericEntry encodeurelevateurL2haut =
teb.add("encodeurelevateurL2haut", -0.9).getEntry();
private GenericEntry encodeurelevateurL3bas =
teb.add("encodeurelevateurL3bas", -2.9).getEntry();
teb.add("encodeurelevateurL3bas", -1.9).getEntry();
private GenericEntry encodeurelevateurL3haut =
teb.add("encodeurelevateurL3haut", -3).getEntry();
teb.add("encodeurelevateurL3haut", -2.11).getEntry();
private GenericEntry encodeurelevateurL4bas =
teb.add("encodeurelevateurL4bas", -6.4).getEntry();
teb.add("encodeurelevateurL4bas", -6.6).getEntry();
private GenericEntry encodeurelevateurL4haut =
teb.add("encodeurelevateurL4haut", -6.5).getEntry();
teb.add("encodeurelevateurL4haut", -6.3).getEntry();
private GenericEntry encodeurelevateurstationbas =
teb.add("encodeurelevateursationbas", -0.5).getEntry();
private GenericEntry encodeurelevateurstationhaut =
@ -67,16 +67,16 @@ public class Elevateur extends SubsystemBase {
return encodeurelevateurL2haut.getDouble(-0.9);
}
public double encodeurelevateurL3bas(){
return encodeurelevateurL3bas.getDouble(-2.9);
return encodeurelevateurL3bas.getDouble(-1.9);
}
public double encodeurelevateurL3haut(){
return encodeurelevateurL3haut.getDouble(-3);
return encodeurelevateurL3haut.getDouble(-2.11);
}
public double encodeurelevateurL4bas(){
return encodeurelevateurL4bas.getDouble(-6.4);
return encodeurelevateurL4bas.getDouble(-6.6);
}
public double encodeurelevateurL4haut(){
return encodeurelevateurL4haut.getDouble(-6.5);
return encodeurelevateurL4haut.getDouble(-6.3);
}
public double encodeurelevateurstationbas(){
return encodeurelevateurstationbas.getDouble(-0.5);

2
src/main/java/frc/robot/subsystems/Grimpeur.java
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@ -31,7 +31,7 @@ public class Grimpeur extends SubsystemBase {
return grimpeur.getEncoder().getPosition();
}
public void reset(){
grimpeur.getEncoder().setPosition(0);
grimpeur.getEncoder().setPosition(135.11);
}
@Override
public void periodic() {

4
src/main/java/frc/robot/subsystems/Pince.java
View File

@ -17,6 +17,8 @@ public class Pince extends SubsystemBase {
public Pince() {
teb.addBoolean("limit pince",this::position);
teb.addDouble("encodeur pince", this::encodeurpivot);
teb.addDouble("amperage corail", this::emperagecoral);
teb.addDouble("amperage algue", this::emperagealgue);
}
final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
@ -30,7 +32,7 @@ public void aspirecoral(double vitesse){
}
public void pivote(double vitesse){
if (position()) {
if (vitesse > 0) {
if (vitesse < 0) {
pivoti.set(0);
}
else{

2
src/main/java/frc/robot/subsystems/Requin.java
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@ -17,6 +17,8 @@ public class Requin extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
public Requin() {
teb.addBoolean("limit requin", this::enHaut);
teb.addDouble("amparge requin", this::amp);
teb.addDouble("encodeur requin", this::encodeur);
}
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);