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dashboard mieux

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This commit is contained in:
samuel desharnais 2025-02-26 19:42:28 -05:00
parent 42fb45d2de
commit ff6d88d9df
4 changed files with 62 additions and 8 deletions
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19
src/main/java/frc/robot/commands/L2.java
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@ -4,6 +4,11 @@
package frc.robot.commands; package frc.robot.commands;
import java.util.function.DoubleSupplier;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
@ -13,6 +18,12 @@ import frc.robot.subsystems.Pince;
public class L2 extends Command { public class L2 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince; private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur elevateur bas L2").subscribe(-1);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur elevateur haut L2").subscribe(-0.9);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L2").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L2").subscribe(-0.9);
/** Creates a new L2. */ /** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) { public L2(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur; this.elevateur = elevateur;
@ -28,10 +39,14 @@ public class L2 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(elevateur.position()<=-1 && elevateur.position()>=-0.9){ double encodeurbase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
elevateur.vitesse(0); elevateur.vitesse(0);
} }
else if(elevateur.position()>=-1){ else if(elevateur.position()>=encodeurbase){
elevateur.vitesse(-0.2); elevateur.vitesse(-0.2);
} }
else{ else{

17
src/main/java/frc/robot/commands/L3.java
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@ -4,6 +4,9 @@
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
public class L3 extends Command { public class L3 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince; private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur haut L3").subscribe(-2.9);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur bas L3").subscribe(-3);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L3").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L3").subscribe(-0.9);
/** Creates a new L2. */ /** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) { public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur; this.elevateur = elevateur;
@ -28,10 +37,14 @@ public class L3 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(elevateur.position()<=-2.9 && elevateur.position()>=-3){ double encodeurHaute = encodeur1.get();
double encodeurBase = encodeur2.get();
double encodeurbase = encodeur3.get();
double encodeurhaute = encodeur4.get();
if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
elevateur.vitesse(0); elevateur.vitesse(0);
} }
else if(elevateur.position()>=-2.9){ else if(elevateur.position()>=-encodeurHaute){
elevateur.vitesse(-0.2); elevateur.vitesse(-0.2);
} }
else{ else{

17
src/main/java/frc/robot/commands/L4.java
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@ -4,6 +4,9 @@
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
public class L4 extends Command { public class L4 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince; private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas L4").subscribe(-6.4);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut L4").subscribe(-6.5);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L4").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L4").subscribe(-0.9);
/** Creates a new L2. */ /** Creates a new L2. */
public L4(Elevateur elevateur,Pince pince) { public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur; this.elevateur = elevateur;
@ -28,10 +37,14 @@ public class L4 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(elevateur.position()<=-6.5 && elevateur.position()>=-6.4){ double encodeurBase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
elevateur.vitesse(0); elevateur.vitesse(0);
} }
else if(elevateur.position()>=-6.5){ else if(elevateur.position()>=encodeurhaute){
elevateur.vitesse(-0.2); elevateur.vitesse(-0.2);
} }
else{ else{

17
src/main/java/frc/robot/commands/StationPince.java
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@ -4,6 +4,9 @@
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
@ -13,6 +16,12 @@ public class StationPince extends Command {
private Pince pince; private Pince pince;
private Elevateur elevateur; private Elevateur elevateur;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
/** Creates a new L2Pince. */ /** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) { public StationPince(Pince pince,Elevateur elevateur) {
this.elevateur = elevateur; this.elevateur = elevateur;
@ -28,11 +37,15 @@ public class StationPince 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() {
double encodeurBase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
pince.aspirecoral(0.5); pince.aspirecoral(0.5);
if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){ if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
pince.pivote(0); pince.pivote(0);
} }
else if(pince.encodeurpivot()>=910){ else if(pince.encodeurpivot()>=encodeurBase){
pince.pivote(0.2); pince.pivote(0.2);
} }
else{ else{