From f9d09106a470720747550f3064589db8a1ca47fc Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 22 Feb 2025 15:21:04 -0500 Subject: [PATCH] dashboard --- src/main/java/frc/robot/RobotContainer.java | 4 +-- .../frc/robot/commands/BalayeuseAlgue.java | 13 +++++----- .../frc/robot/commands/BalayeuseCoral.java | 4 +-- .../java/frc/robot/subsystems/Bougie.java | 2 +- .../java/frc/robot/subsystems/Grimpeur.java | 26 ------------------- .../java/frc/robot/subsystems/Requin.java | 13 +++++++--- 6 files changed, 21 insertions(+), 41 deletions(-) delete mode 100644 src/main/java/frc/robot/subsystems/Grimpeur.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4949401..3b0141c 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)); - manette2.x().whileTrue(new BalayeuseCoral(requin)); + manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie)); + manette2.x().whileTrue(new BalayeuseCoral(requin, bougie)); 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 73af5d1..e97fec5 100644 --- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java +++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java @@ -13,7 +13,7 @@ public class BalayeuseAlgue extends Command { private Requin requin; private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseAlgue(Requin requin) { + public BalayeuseAlgue(Requin requin, Bougie bougie) { this.requin = requin; this.bougie =bougie; addRequirements(requin,bougie); @@ -27,16 +27,17 @@ 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()>=500 && requin.encodeur()<=510) + { requin.rotationer(0); - if(requin.stop()){ + if(requin.amp()> 60){ requin.balaye(0); bougie.Vert(); } - else{ - + else + { requin.balaye(0.5); - } + } } else if(requin.encodeur()>=510){ requin.rotationer(0.5); diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java index 428c895..2f53b19 100644 --- a/src/main/java/frc/robot/commands/BalayeuseCoral.java +++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java @@ -13,7 +13,7 @@ public class BalayeuseCoral extends Command { private Requin requin; private Bougie bougie; /** Creates a new Balayeuse. */ - public BalayeuseCoral(Requin requin) { + public BalayeuseCoral(Requin requin, Bougie bougie) { this.requin = requin; this.bougie = bougie; addRequirements(requin,bougie); @@ -29,7 +29,7 @@ public class BalayeuseCoral extends Command { public void execute() { if(requin.encodeur()>=100 && requin.encodeur()<=110){ requin.rotationer(0); - if(requin.amp()>8){ + if(requin.amp()>60){ requin.balaye(0); bougie.Vert(); if(requin.enHaut()){ diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java index b4ac253..53aaa5e 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(50); + CANdle candle = new CANdle(23); 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 deleted file mode 100644 index 09f6528..0000000 --- a/src/main/java/frc/robot/subsystems/Grimpeur.java +++ /dev/null @@ -1,26 +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.subsystems; - -import edu.wpi.first.wpilibj.DigitalInput; -import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class Grimpeur extends SubsystemBase { - /** Creates a new Grimpeur. */ - public Grimpeur() {} - final Spark grimpeur = new Spark(16); - final DigitalInput limit1 = new DigitalInput(0); - public void grimpe(double vitesse){ - grimpeur.set(vitesse); - } - final void stop(){ - limit1.get(); - } - @Override - public void periodic() { - // This method will be called once per scheduler run - } -} diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java index c428f18..27337a4 100644 --- a/src/main/java/frc/robot/subsystems/Requin.java +++ b/src/main/java/frc/robot/subsystems/Requin.java @@ -8,7 +8,11 @@ import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkLowLevel.MotorType; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Requin extends SubsystemBase { @@ -17,7 +21,11 @@ public class Requin extends SubsystemBase { final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless); final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless); final DigitalInput limit3 = new DigitalInput(4); - final DigitalInput limit5 = new DigitalInput(5); + + GenericEntry teb = Shuffleboard.getTab("teb") + .add("amp",encodeur()) + .getEntry(); + public void balaye(double vitesse){ balaye.set(vitesse); } @@ -27,9 +35,6 @@ public class Requin extends SubsystemBase { public boolean enHaut(){ return limit3.get(); } - public boolean stop(){ - return limit5.get(); - } public double encodeur(){ return rotatione.getEncoder().getPosition(); }