PLS5618/Reefscape-2025
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requin

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This commit is contained in:
Antoine PerreaultE
2025-02-19 17:21:37 -05:00
parent eaa14fb1b1
commit dc36eea320
6 changed files with 44 additions and 43 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -23,8 +23,8 @@ public class RobotContainer {
} }
private void configureBindings() { private void configureBindings() {
manette2.b().whileTrue(new BalayeuseAlgue(requin,bougie)); manette2.b().whileTrue(new BalayeuseAlgue(requin));
manette2.x().whileTrue(new BalayeuseCoral(requin,bougie)); manette2.x().whileTrue(new BalayeuseCoral(requin));
manette2.y().whileTrue(new L1Requin(requin,bougie)); manette2.y().whileTrue(new L1Requin(requin,bougie));
manette2.rightBumper().whileTrue(new BalayeuseHaut(requin)); manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
} }

39
src/main/java/frc/robot/commands/BalayeuseAlgue.java
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@ -13,10 +13,10 @@ public class BalayeuseAlgue extends Command {
private Requin requin; private Requin requin;
private Bougie bougie; private Bougie bougie;
/** Creates a new Balayeuse. */ /** Creates a new Balayeuse. */
public BalayeuseAlgue(Requin requin,Bougie bougie) { public BalayeuseAlgue(Requin requin) {
this.requin = requin; this.requin = requin;
this.bougie =bougie; this.bougie =bougie;
addRequirements(requin, bougie); addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies. // 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. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(requin.encodeur()>=500 && requin.encodeur()<=510){ // if(requin.encodeur()>=500 && requin.encodeur()<=510){
requin.rotationer(0); // requin.rotationer(0);
if(requin.stop()){ // if(requin.stop()){
requin.balaye(0); // requin.balaye(0);
bougie.Vert(); // bougie.Vert();
} // }
else{ // else{
requin.balaye(0.5);
} requin.balaye(0.5);
} // }
else if(requin.encodeur()>=510){ // }
requin.rotationer(0.5); // else if(requin.encodeur()>=510){
} // requin.rotationer(0.5);
else{ // }
requin.rotationer(-0.5); // else{
} // requin.rotationer(-0.5);
// }
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override

34
src/main/java/frc/robot/commands/BalayeuseCoral.java
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@ -13,10 +13,10 @@ public class BalayeuseCoral extends Command {
private Requin requin; private Requin requin;
private Bougie bougie; private Bougie bougie;
/** Creates a new Balayeuse. */ /** Creates a new Balayeuse. */
public BalayeuseCoral(Requin requin,Bougie bougie) { public BalayeuseCoral(Requin requin) {
this.requin = requin; this.requin = requin;
this.bougie = bougie; this.bougie = bougie;
addRequirements(requin,bougie); addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies. // 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. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(requin.encodeur()>=100 && requin.encodeur()<=110){ // if(requin.encodeur()>=100 && requin.encodeur()<=110){
requin.rotationer(0); // requin.rotationer(0);
if(requin.stop()){ // if(requin.stop()){
requin.balaye(0);
bougie.Vert();
}
else{
requin.balaye(0.5); requin.balaye(0.5);
// bougie.Vert();
} }
} // else{
else if(requin.encodeur()>=110){ // requin.balaye(0.5);
requin.rotationer(0.5); // }
} // }
else{ // else if(requin.encodeur()>=110){
requin.rotationer(-0.5); // requin.rotationer(0.5);
} // }
// else{
// requin.rotationer(-0.5);
// }
} // }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override

2
src/main/java/frc/robot/subsystems/Bougie.java
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@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Bougie extends SubsystemBase { public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(5); CANdle candle = new CANdle(50);
CANdleConfiguration config = new CANdleConfiguration(); CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
/** Creates a new Bougie. */ /** Creates a new Bougie. */

2
src/main/java/frc/robot/subsystems/Grimpeur.java
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@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase { public class Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */ /** Creates a new Grimpeur. */
public Grimpeur() {} public Grimpeur() {}
final Spark grimpeur = new Spark(0); final Spark grimpeur = new Spark(16);
final DigitalInput limit1 = new DigitalInput(0); final DigitalInput limit1 = new DigitalInput(0);
public void grimpe(double vitesse){ public void grimpe(double vitesse){
grimpeur.set(vitesse); grimpeur.set(vitesse);

6
src/main/java/frc/robot/subsystems/Requin.java
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@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Requin extends SubsystemBase { public class Requin extends SubsystemBase {
/** Creates a new Requin. */ /** Creates a new Requin. */
public Requin() {} public Requin() {}
final SparkFlex balaye = new SparkFlex(9, MotorType.kBrushless); final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(10, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(4); final DigitalInput limit3 = new DigitalInput(4);
final DigitalInput limit5 = new DigitalInput(5); final DigitalInput limit5 = new DigitalInput(5);
public void balaye(double vitesse){ public void balaye(double vitesse){
@ -26,7 +26,7 @@ public class Requin extends SubsystemBase {
} }
public boolean enHaut(){ public boolean enHaut(){
return limit3.get(); return limit3.get();
} }
public boolean stop(){ public boolean stop(){
return limit5.get(); return limit5.get();
} }