From dc36eea3202e40fb002d6efdcd0a60d49ff1f90a Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 19 Feb 2025 17:21:37 -0500 Subject: [PATCH] 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(); }