From e7b4b479284ce1337c598724639717e3e3962ea8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 27 Jan 2025 19:51:46 -0500
Subject: [PATCH] elevateur
---
src/main/java/frc/robot/command/Depart.java | 47 ++++++++++++++++++
.../frc/robot/command/ElevateurManuel.java | 48 +++++++++++++++++++
src/main/java/frc/robot/command/L2.java | 6 +--
src/main/java/frc/robot/command/L3.java | 4 +-
src/main/java/frc/robot/command/L4.java | 4 +-
.../java/frc/robot/subsystems/Elevateur.java | 12 +++--
6 files changed, 109 insertions(+), 12 deletions(-)
create mode 100644 src/main/java/frc/robot/command/Depart.java
create mode 100644 src/main/java/frc/robot/command/ElevateurManuel.java
diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/command/Depart.java
new file mode 100644
index 0000000..4d101e9
--- /dev/null
+++ b/src/main/java/frc/robot/command/Depart.java
@@ -0,0 +1,47 @@
+// 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.Elevateur;
+
+/* 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;
+ /** Creates a new L2. */
+ public Depart(Elevateur elevateur) {
+ this.elevateur = elevateur;
+ addRequirements(elevateur);
+ // 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(elevateur.limit2()==true){
+ elevateur.vitesse(0);
+ elevateur.reset();
+ }
+ else{
+ elevateur.vitesse(-.5);
+ }
+ }
+
+ // Called once the command ends or is interrupted.
+ @Override
+ public void end(boolean interrupted) {
+ elevateur.vitesse(0);
+ }
+
+ // Returns true when the command should end.
+ @Override
+ public boolean isFinished() {
+ return elevateur.limit2()==true;
+ }
+}
diff --git a/src/main/java/frc/robot/command/ElevateurManuel.java b/src/main/java/frc/robot/command/ElevateurManuel.java
new file mode 100644
index 0000000..c75b4f9
--- /dev/null
+++ b/src/main/java/frc/robot/command/ElevateurManuel.java
@@ -0,0 +1,48 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* 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 ElevateurManuel extends Command {
+ private DoubleSupplier doubleSupplier;
+ private Elevateur elevateur;
+ /** Creates a new ElevateurManuel. */
+ public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
+ this.doubleSupplier = doubleSupplier;
+ this.elevateur = elevateur;
+ addRequirements(elevateur);
+ // 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(elevateur.limit2()==true){
+ elevateur.vitesse(0);
+ }
+ elevateur.vitesse(doubleSupplier.getAsDouble());
+ }
+
+ // Called once the command ends or is interrupted.
+ @Override
+ public void end(boolean interrupted) {
+ elevateur.vitesse(0);
+ }
+
+ // Returns true when the command should end.
+ @Override
+ public boolean isFinished() {
+ return false;
+ }
+}
diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
index 9804df8..36c6522 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/command/L2.java
@@ -24,11 +24,11 @@ public class L2 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
- if(elevateur.position(500)>=500){
+ if(elevateur.position()>=500){
elevateur.vitesse(0);
}
else{
- elevateur.vitesse(.5);
+ elevateur.vitesse(.3);
}
}
@@ -41,6 +41,6 @@ public class L2 extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
- return elevateur.position(500)>=500;
+ return elevateur.position()>=500;
}
}
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
index e5ff0da..92dfd18 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/command/L3.java
@@ -24,7 +24,7 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
- if(elevateur.position(700)>=700){
+ if(elevateur.position()>=700){
elevateur.vitesse(0);
}
else{
@@ -41,6 +41,6 @@ public class L3 extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
- return elevateur.position(700)>=700;
+ return elevateur.position()>=700;
}
}
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index b0b3c1c..df01def 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -24,7 +24,7 @@ public class L4 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
- if(elevateur.position(800)>=800){
+ if(elevateur.position()>=800){
elevateur.vitesse(0);
}
else{
@@ -41,6 +41,6 @@ public class L4 extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
- return elevateur.position(800)>=800;
+ return elevateur.position()>=800;
}
}
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index e81d5ef..b37f6f0 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -13,16 +13,18 @@ public class Elevateur extends SubsystemBase {
public Elevateur() {}
final SparkMax monte = new SparkMax(0, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(0);
- public double position(double position){
+ public double position(){
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
monte.set(vitesse);
}
-
-
-
-
+ public boolean limit2(){
+ return limit2.get();
+ }
+ public void reset(){
+ monte.getEncoder().setPosition(0);
+ }
@Override
public void periodic() {
// This method will be called once per scheduler run