From 18222d9f55297542ab2535b0ababb8ac629eed85 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 27 Feb 2025 20:23:26 -0500 Subject: [PATCH 1/2] bougie fini(J'espere) --- src/main/java/frc/robot/RobotContainer.java | 9 ++-- .../robot/commands/Pince/Algue_inspire.java | 17 ++++++-- .../frc/robot/commands/Pince/CorailAspir.java | 12 ++++-- .../frc/robot/commands/Pince/CorailTest.java | 41 ------------------- .../commands/Pince/CoralAlgueInspire.java | 4 +- .../frc/robot/commands/Pince/CoralExpire.java | 12 +++--- .../robot/commands/requin/ExpireAlgue.java | 17 ++++++-- .../frc/robot/commands/requin/L1Requin.java | 2 +- .../frc/robot/commands/requin/aspire.java | 16 ++++++-- .../frc/robot/commands/requin/exspire.java | 18 ++++++-- 10 files changed, 79 insertions(+), 69 deletions(-) delete mode 100644 src/main/java/frc/robot/commands/Pince/CorailTest.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index fb53542..66e5be9 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -115,6 +115,7 @@ public class RobotContainer { manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); 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)); //elevateur manette1.a().whileTrue(new Depart(elevateur, pince)); @@ -123,12 +124,12 @@ public class RobotContainer { manette1.y().whileTrue(new L4(elevateur, pince)); /* Manette 2 */ - //pince - manette2.a().whileTrue(new CorailAspir(pince)); - manette2.b().whileTrue(new Algue_inspire(pince)); + //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)); + manette2.rightTrigger().whileTrue(new exspire(requin,bougie)); manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); //Pince manuel diff --git a/src/main/java/frc/robot/commands/Pince/Algue_inspire.java b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java index d184827..c6319c3 100644 --- a/src/main/java/frc/robot/commands/Pince/Algue_inspire.java +++ b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java @@ -5,15 +5,18 @@ package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; 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 Algue_inspire extends Command { /** Creates a new Algue_inspire. */ private Pince pince; - public Algue_inspire(Pince pince) { + private Bougie bougie; + public Algue_inspire(Pince pince, Bougie bougie) { this.pince = pince; - addRequirements(pince); + this.bougie = bougie; + addRequirements(pince, bougie); // Use addRequirements() here to declare subsystem dependencies. } @@ -27,7 +30,15 @@ public class Algue_inspire extends Command { //ajouter l'amperage pour arreter les moteurs @Override public void execute() { - pince.aspirealgue(0.5); + + if(pince.emperagealgue()>60){ + pince.aspirealgue(0); + bougie.Bleu(); + } + else{ + pince.aspirealgue(0.5); + + } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Pince/CorailAspir.java b/src/main/java/frc/robot/commands/Pince/CorailAspir.java index ae3753b..5cb5e13 100644 --- a/src/main/java/frc/robot/commands/Pince/CorailAspir.java +++ b/src/main/java/frc/robot/commands/Pince/CorailAspir.java @@ -5,16 +5,19 @@ package frc.robot.commands.Pince; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Bougie; 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 CorailAspir extends Command { /** Creates a new CorailAspir. */ private Pince pince; - public CorailAspir(Pince pince) { + Bougie bougie; + public CorailAspir(Pince pince, Bougie bougie) { // Use addRequirements() here to declare subsystem dependencies. this.pince = pince; - addRequirements(pince); + this.bougie = bougie; + addRequirements(pince,bougie); } // Called when the command is initially scheduled. @@ -24,7 +27,10 @@ public class CorailAspir extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - + if(pince.emperagecoral() > 60){ + pince.aspirecoral(0); + bougie.Bleu(); + } pince.aspirecoral(0.5); } diff --git a/src/main/java/frc/robot/commands/Pince/CorailTest.java b/src/main/java/frc/robot/commands/Pince/CorailTest.java deleted file mode 100644 index ba33689..0000000 --- a/src/main/java/frc/robot/commands/Pince/CorailTest.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.commands.Pince; - -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 CorailTest extends Command { - private Pince pince; - /** Creates a new AlgueTest. */ - public CorailTest(Pince pince) { - this.pince = pince; - 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.aspirecoral(0.2); - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - pince.aspirecoral(0); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java b/src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java index 29a21a3..13c66d7 100644 --- a/src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java +++ b/src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java @@ -31,11 +31,11 @@ public class CoralAlgueInspire extends Command { if(pince.emperagealgue()>60){ pince.aspirealgue(0); bougie.Bleu(); - } + } else{ pince.aspirealgue(0.5); + bougie.Jaune(); } - } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Pince/CoralExpire.java b/src/main/java/frc/robot/commands/Pince/CoralExpire.java index 13293c6..f20ab57 100644 --- a/src/main/java/frc/robot/commands/Pince/CoralExpire.java +++ b/src/main/java/frc/robot/commands/Pince/CoralExpire.java @@ -26,13 +26,13 @@ public class CoralExpire extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - //if(pince.emperagecoral() > 60){ - // pince.aspirecoral(0); - //} - //else{ + if(pince.emperagecoral() > 60){ + pince.aspirecoral(0); + } + else{ pince.aspirecoral(-.5); - //bougie.Jaune(); - // } + bougie.Jaune(); + } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/requin/ExpireAlgue.java b/src/main/java/frc/robot/commands/requin/ExpireAlgue.java index 679c6ce..3866d3b 100644 --- a/src/main/java/frc/robot/commands/requin/ExpireAlgue.java +++ b/src/main/java/frc/robot/commands/requin/ExpireAlgue.java @@ -5,15 +5,19 @@ package frc.robot.commands.requin; 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 ExpireAlgue extends Command { private Requin requin; + private Bougie bougie; /** Creates a new ExpireAlgue. */ - public ExpireAlgue(Requin requin) { + public ExpireAlgue(Requin requin, Bougie bougie + ) { this.requin = requin; - addRequirements(requin); + this.bougie = bougie; + addRequirements(requin,bougie); // Use addRequirements() here to declare subsystem dependencies. } @@ -24,7 +28,14 @@ public class ExpireAlgue extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - requin.balaye(0.5); + if(requin.amp()> 60){ + requin.balaye(-0.5); + } + else + { + bougie.Rouge(); + requin.balaye(-0.5); + } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/requin/L1Requin.java b/src/main/java/frc/robot/commands/requin/L1Requin.java index 1a7d127..c65e1cc 100644 --- a/src/main/java/frc/robot/commands/requin/L1Requin.java +++ b/src/main/java/frc/robot/commands/requin/L1Requin.java @@ -30,7 +30,7 @@ public class L1Requin extends Command { if(requin.encodeur()>=800 && requin.encodeur()<=810){ requin.rotationer(0); - if(requin.amp()>8){ + if(requin.amp()>60){ requin.balaye(-0.5); } else{ diff --git a/src/main/java/frc/robot/commands/requin/aspire.java b/src/main/java/frc/robot/commands/requin/aspire.java index 5105d83..dee5e1e 100644 --- a/src/main/java/frc/robot/commands/requin/aspire.java +++ b/src/main/java/frc/robot/commands/requin/aspire.java @@ -5,16 +5,19 @@ package frc.robot.commands.requin; 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 aspire extends Command { /** Creates a new aspire. */ private Requin requin; - public aspire(Requin requin) { + private Bougie bougie; + public aspire(Requin requin, Bougie bougie) { // Use addRequirements() here to declare subsystem dependencies. this.requin = requin; - addRequirements(requin); + this.bougie = bougie; + addRequirements(requin, bougie); } // Called when the command is initially scheduled. @@ -24,7 +27,14 @@ public class aspire extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - requin.balaye(0.3); + if(requin.amp()> 60){ + requin.balaye(0); + bougie.Vert(); + } + else + { + requin.balaye(0.5); + } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/requin/exspire.java b/src/main/java/frc/robot/commands/requin/exspire.java index 9c57fe0..dd45048 100644 --- a/src/main/java/frc/robot/commands/requin/exspire.java +++ b/src/main/java/frc/robot/commands/requin/exspire.java @@ -5,16 +5,21 @@ package frc.robot.commands.requin; 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 exspire extends Command { /** Creates a new aspire. */ private Requin requin; - public exspire(Requin requin) { + private Bougie bougie + ; + public exspire(Requin requin,Bougie bougie) { // Use addRequirements() here to declare subsystem dependencies. this.requin = requin; - addRequirements(requin); + this.bougie + =bougie; + addRequirements(requin,bougie); } // Called when the command is initially scheduled. @@ -24,7 +29,14 @@ public class exspire extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - requin.balaye(-0.3); + if(requin.amp()> 60){ + requin.balaye(-0.5); + } + else + { + bougie.Rouge(); + requin.balaye(-0.5); + } } // Called once the command ends or is interrupted. From 004b3085b6a3b61b5890d837150ad54309c6c702 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 1 Mar 2025 09:16:12 -0500 Subject: [PATCH 2/2] led plus --- src/main/java/frc/robot/subsystems/Bougie.java | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java index 4c2dcb5..cc5a16f 100644 --- a/src/main/java/frc/robot/subsystems/Bougie.java +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -24,24 +24,38 @@ public class Bougie extends SubsystemBase { candle.setLEDs(255, 0, 0,0,24,8); candle.setLEDs(255, 0, 0,0,40,8); candle.setLEDs(255, 0, 0,0,56,8); + candle.setLEDs(255, 0, 0,0,72,8); + candle.setLEDs(255, 0, 0,0,88,8); + candle.setLEDs(255, 0, 0,0,104,8); + candle.setLEDs(255, 0, 0,0,120,8); } 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); + candle.setLEDs(0, 255, 0,0,72,8); + candle.setLEDs(0, 255, 0,0,88,8); + candle.setLEDs(0, 255, 0,0,104,8); + candle.setLEDs(0, 255, 0,0,120,8); } 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); + candle.setLEDs(0, 0, 255,0,80,8); + candle.setLEDs(0, 0, 255,0,96,8); + candle.setLEDs(0, 0, 255,0,112,8); } 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); + candle.setLEDs(255, 215, 0,0,80,8); + candle.setLEDs(255, 215, 0,0,96,8); + candle.setLEDs(255, 215, 0,0,112,8); } public void RainBow(){ candle.animate(rainbowAnim);