PLS5618/Reefscape-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

dashboard

Browse Source
This commit is contained in:
Antoine PerreaultE 2025-02-22 15:21:04 -05:00
parent 0524ec6355
commit f9d09106a4
6 changed files with 21 additions and 41 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/main/java/frc/robot/RobotContainer.java
View File

@ -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));
}

11
src/main/java/frc/robot/commands/BalayeuseAlgue.java
View File

@ -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);
@ -27,14 +27,15 @@ 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);
}
}

4
src/main/java/frc/robot/commands/BalayeuseCoral.java
View File

@ -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()){

2
src/main/java/frc/robot/subsystems/Bougie.java
View File

@ -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. */

26
src/main/java/frc/robot/subsystems/Grimpeur.java
View File

@ -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
}
}

13
src/main/java/frc/robot/subsystems/Requin.java
View File

@ -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();
}