Grimpeur, Fonctionne

simgui-ds.json

@@ -0,0 +1,97 @@
+{
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/java/frc/robot/RobotContainer.java

@@ -4,17 +4,42 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.GrimperHaut;
+import frc.robot.commands.GrimpeurBas;
+import frc.robot.commands.GrimpeurManuel;
+import frc.robot.commands.ResetGrimpeur;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Grimpeur;
 
 public class RobotContainer {
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(1);
+  Grimpeur grimpeur = new Grimpeur();
+  Bougie bougie = new Bougie();
+  GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette2::getLeftY);
   public RobotContainer() {
+    grimpeur.setDefaultCommand(new RunCommand(()->{
+      if(grimpeur.stop()){
+       grimpeur.grimpe(0); 
+      }
+      else{
+        grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+    }}, grimpeur));
     configureBindings();
   }
-
+  
-  private void configureBindings() {}
+  private void configureBindings() {
+    manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
+    manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
+    manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
-}
+}

src/main/java/frc/robot/command/CoralAlgueInspire.java

@@ -1,49 +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.command;
-
-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 CoralAlgueInspire extends Command {
-  private Pince pince;
-  /** Creates a new CoralAlgue. */
-  public CoralAlgueInspire(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(-.5);
-    if(pince.emperagealgue()>8){
-      pince.aspirealgue(0);
-     } 
-     else{
-      pince.aspirealgue(0.5);
-      }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.aspirecoral(0);
-    pince.aspirealgue(0); 
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/command/CoralInspire.java

@@ -1,46 +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.command;
-
-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 CoralInspire extends Command {
-  private Pince pince;
-  /** Creates a new CoralAlgue. */
-  public CoralInspire(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() {
-    if(pince.emperagecoral()>8){
-    pince.aspirecoral(0);  
-    }
-    else{
-      pince.aspirecoral(.5);
-    }
-  }
-
-  // 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;
-  }
-}

src/main/java/frc/robot/command/L4Pince.java

@@ -1,49 +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.command;
-
-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 L4Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L4Pince(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() {
-    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/command/StationPince.java

@@ -1,49 +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.command;
-
-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 StationPince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public StationPince(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() {
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/GrimperHaut.java

@@ -2,18 +2,21 @@
 // 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;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 L2Pince extends Command {
+public class GrimperHaut extends Command {
-  private Pince pince;
+  private Grimpeur grimpeur;
-  /** Creates a new L2Pince. */
+  private Bougie bougie;
-  public L2Pince(Pince pince) {
+  /** Creates a new Grimper. */
-    this.pince = pince;
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
-    addRequirements(pince);
+    this.grimpeur = grimpeur;
+    this.bougie = bougie;
+    addRequirements(grimpeur,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,26 +27,30 @@ public class L2Pince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+    if(grimpeur.stop()==true){
-      pince.pivote(0);
+      grimpeur.grimpe(0);
-    }
+      grimpeur.reset();
-    else if(pince.encodeurpivot()>=510){
+      bougie.RainBow();
-      pince.pivote(-0.3);
     }
     else{
-      pince.pivote(0.3);
+      grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return grimpeur.stop()==true;
   }
 }

src/main/java/frc/robot/commands/GrimpeurBas.java

@@ -2,18 +2,18 @@
 // 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;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 DepartPince extends Command {
+public class GrimpeurBas extends Command {
-  private Pince pince;
+  private Grimpeur grimpeur;
-  /** Creates a new DepartPince. */
+  /** Creates a new GrimpeurBas. */
-  public DepartPince(Pince pince) {
+  public GrimpeurBas(Grimpeur grimpeur) {
-    this.pince = pince;
+    this.grimpeur = grimpeur;
-    addRequirements(pince);
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,19 +24,20 @@ public class DepartPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.position()==true){
+    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
-      pince.pivote(0);
+      grimpeur.grimpe(0);
-      pince.reset();
     }
-    else{
+    else if(grimpeur.encodeur()>=-38.5){
-      pince.pivote(.5);
+      grimpeur.grimpe(-0.5);
     }
+   else{grimpeur.grimpe(0.5);
+  } 
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/GrimpeurManuel.java

@@ -2,18 +2,22 @@
 // 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;
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 L3Pince extends Command {
+public class GrimpeurManuel extends Command {
-  private Pince pince;
+  private Grimpeur grimpeur;
-  /** Creates a new L2Pince. */
+  private DoubleSupplier x;
-  public L3Pince(Pince pince) {
+  /** Creates a new GrimpeurManuel. */
-    this.pince = pince;
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
-    addRequirements(pince);
+    this.grimpeur = grimpeur;
+    this.x = x;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,21 +28,19 @@ public class L3Pince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+    if(grimpeur.stop()){
-      pince.pivote(0);
+      grimpeur.grimpe(0);
-    }
-    else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.5);
     }
     else{
-      pince.pivote(0.5);
+    grimpeur.grimpe(x.getAsDouble());  
     }
+    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/RainBow.java

@@ -2,18 +2,18 @@
 // 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;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Bougie;
 
 /* 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 CoralExpire extends Command {
+public class RainBow extends Command {
-  private Pince pince;
+  /** Creates a new RainBow. */
-  /** Creates a new CoralAlgue. */
+  private Bougie bougie;
-  public CoralExpire(Pince pince) {
+  public RainBow(Bougie bougie) {
-    this.pince = pince;
+    this.bougie = bougie;
-    addRequirements(pince);
+    addRequirements(bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,13 +24,13 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(.5);
+    bougie.RainBow();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
+    bougie.RainBowStop();
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/ResetGrimpeur.java

@@ -2,18 +2,18 @@
 // 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;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 AlgueExpire extends Command {
+public class ResetGrimpeur extends Command {
-  private Pince pince;
+  private Grimpeur grimpeur;
-  /** Creates a new CoralAlgue. */
+  /** Creates a new ResetGrimpeur. */
-  public AlgueExpire(Pince pince) {
+  public ResetGrimpeur(Grimpeur grimpeur) {
-    this.pince = pince;
+    this.grimpeur = grimpeur;
-    addRequirements(pince);
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,14 +24,12 @@ public class AlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirealgue(0.5);
+    grimpeur.reset();
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
+  public void end(boolean interrupted) {}
-    pince.aspirealgue(0); 
-  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/subsystems/Bougie.java

@@ -0,0 +1,38 @@
+// 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 com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Bougie extends SubsystemBase {
+  CANdle candle = new CANdle(5);
+  CANdleConfiguration config = new CANdleConfiguration();
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  /** Creates a new Bougie. */
+  public Bougie() {
+    config.brightnessScalar = 0.5;
+    candle.configAllSettings(config);
+  }
+  public void Rouge() {
+   candle.setLEDs(255, 0, 0);
+  }
+  public void Vert() {
+   candle.setLEDs(0, 255, 0);
+  }
+  public void Bleu() {
+   candle.setLEDs(0, 0, 255);
+  }
+  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBowStop(){candle.animate(null);}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
+

src/main/java/frc/robot/subsystems/Grimpeur.java

@@ -4,21 +4,35 @@
 
 package frc.robot.subsystems;
 
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
-  public Grimpeur() {}
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  final Spark grimpeur = new Spark(0);
+  public Grimpeur() {
-  final DigitalInput limit1 = new DigitalInput(0);
+    teb.addBoolean("limit grimpeur", this::stop);
+    teb.addDouble("encodeur grimpeur", this::encodeur);
+  }
+  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
+  final DigitalInput limit1 = new DigitalInput(2);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
   }
-  final void stop(){
+  public boolean stop(){
-    limit1.get();
+   return limit1.get();
   }
+  public double encodeur(){
+  return grimpeur.getEncoder().getPosition();
+  }
+  public void reset(){
+     grimpeur.getEncoder().setPosition(0);
+    }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

src/main/java/frc/robot/subsystems/Pince.java

@@ -1,50 +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 com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Pince extends SubsystemBase {
-  /** Creates a new Pince. */
-  public Pince() {}
-  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(0);
-  public void aspirecoral(double vitesse){
-    coral.set(vitesse);
-  }
-public void pivote(double vitesse){
-  pivoti.set(vitesse);
-}
-public void aspirealgue(double vitesse){
-  algue2.set(vitesse);
-  algue1.set(-vitesse);
-}
-public double encodeurpivot(){
-  return pivoti.getEncoder().getPosition();
-}
-public boolean position(){
- return limit6.get();
-}
-public void reset(){
-  pivoti.getEncoder().setPosition(0);
-}
-public double emperagecoral(){
-  return coral.getOutputCurrent();
-}
-public double emperagealgue(){
-  return algue1.getOutputCurrent();
-}
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}