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c81f118058
| Author | SHA1 | Date | |
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c81f118058 | ||
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7848c4aaf2 | ||
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1d1d6e962d | ||
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d6420659e9 | ||
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aafb2a62b5 | ||
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0fdfa4269d | ||
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017f168b3c | ||
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5ffa28596c | ||
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e7b4b47928 | ||
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0577ce368a | ||
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7521c0d94e | ||
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b16d11b70a |
@@ -1,57 +0,0 @@
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
]
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||||
}
|
||||
}
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||||
]
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||||
}
|
||||
},
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||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
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|
||||
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|
||||
"resetOdom": true,
|
||||
"folder": null,
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|
||||
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|
||||
@@ -1,151 +0,0 @@
|
||||
{
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
{
|
||||
"type": "path",
|
||||
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|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
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||||
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|
||||
"name": "AprilTag"
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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|
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{
|
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"type": "named",
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||||
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@@ -1,245 +0,0 @@
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||||
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"type": "named",
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@@ -1,57 +0,0 @@
|
||||
{
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|
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@@ -1,151 +0,0 @@
|
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@@ -1,32 +0,0 @@
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{
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@@ -1,37 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
|
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// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot;
|
||||
|
||||
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);}
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
}
|
||||
}
|
||||
|
||||
@@ -4,46 +4,17 @@
|
||||
|
||||
package frc.robot;
|
||||
|
||||
import static edu.wpi.first.units.Units.*;
|
||||
|
||||
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
|
||||
import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
|
||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
||||
|
||||
import com.pathplanner.lib.auto.AutoBuilder;
|
||||
import com.pathplanner.lib.auto.NamedCommands;
|
||||
|
||||
import edu.wpi.first.cameraserver.CameraServer;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public class RobotContainer {
|
||||
public RobotContainer() {
|
||||
configureBindings();
|
||||
}
|
||||
|
||||
private final CommandXboxController joystick = new CommandXboxController(0);
|
||||
private void configureBindings() {}
|
||||
|
||||
|
||||
|
||||
|
||||
public RobotContainer() {
|
||||
|
||||
configureBindings();
|
||||
}
|
||||
|
||||
private void configureBindings() {
|
||||
|
||||
|
||||
}
|
||||
|
||||
public Command getAutonomousCommand() {
|
||||
return Commands.print("");
|
||||
}
|
||||
public Command getAutonomousCommand() {
|
||||
return Commands.print("No autonomous command configured");
|
||||
}
|
||||
}
|
||||
|
||||
41
src/main/java/frc/robot/command/AlgueExpire.java
Normal file
41
src/main/java/frc/robot/command/AlgueExpire.java
Normal file
@@ -0,0 +1,41 @@
|
||||
// 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 AlgueExpire extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new CoralAlgue. */
|
||||
public AlgueExpire(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.aspirealgue(0.5);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
pince.aspirealgue(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/CoralAlgueInspire.java
Normal file
49
src/main/java/frc/robot/command/CoralAlgueInspire.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/command/CoralExpire.java
Normal file
41
src/main/java/frc/robot/command/CoralExpire.java
Normal file
@@ -0,0 +1,41 @@
|
||||
// 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 CoralExpire extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new CoralAlgue. */
|
||||
public CoralExpire(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);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
46
src/main/java/frc/robot/command/CoralInspire.java
Normal file
46
src/main/java/frc/robot/command/CoralInspire.java
Normal file
@@ -0,0 +1,46 @@
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
47
src/main/java/frc/robot/command/Depart.java
Normal file
47
src/main/java/frc/robot/command/Depart.java
Normal file
@@ -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;
|
||||
}
|
||||
}
|
||||
47
src/main/java/frc/robot/command/DepartPince.java
Normal file
47
src/main/java/frc/robot/command/DepartPince.java
Normal file
@@ -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.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 DepartPince extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new DepartPince. */
|
||||
public DepartPince(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.position()==true){
|
||||
pince.pivote(0);
|
||||
pince.reset();
|
||||
}
|
||||
else{
|
||||
pince.pivote(.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;
|
||||
}
|
||||
}
|
||||
48
src/main/java/frc/robot/command/ElevateurManuel.java
Normal file
48
src/main/java/frc/robot/command/ElevateurManuel.java
Normal file
@@ -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;
|
||||
}
|
||||
}
|
||||
50
src/main/java/frc/robot/command/L2.java
Normal file
50
src/main/java/frc/robot/command/L2.java
Normal file
@@ -0,0 +1,50 @@
|
||||
// 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 L2 extends Command {
|
||||
private Elevateur elevateur;
|
||||
/** Creates a new L2. */
|
||||
public L2(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.position()>=500 && elevateur.position()<=510){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=510){
|
||||
elevateur.vitesse(-0.3);
|
||||
}
|
||||
else{
|
||||
elevateur.vitesse(.3);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/L2Pince.java
Normal file
49
src/main/java/frc/robot/command/L2Pince.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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 L2Pince extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new L2Pince. */
|
||||
public L2Pince(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()>=500 && pince.encodeurpivot()<=510){
|
||||
pince.pivote(0);
|
||||
}
|
||||
else if(pince.encodeurpivot()>=510){
|
||||
pince.pivote(-0.3);
|
||||
}
|
||||
else{
|
||||
pince.pivote(0.3);
|
||||
}
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/L3.java
Normal file
49
src/main/java/frc/robot/command/L3.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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 L3 extends Command {
|
||||
private Elevateur elevateur;
|
||||
/** Creates a new L2. */
|
||||
public L3(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.position()>=700 && elevateur.position()<=710){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=510){
|
||||
elevateur.vitesse(-0.5);
|
||||
}
|
||||
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 false;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/L3Pince.java
Normal file
49
src/main/java/frc/robot/command/L3Pince.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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 L3Pince extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new L2Pince. */
|
||||
public L3Pince(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()>=700 && pince.encodeurpivot()<=710){
|
||||
pince.pivote(0);
|
||||
}
|
||||
else if(pince.encodeurpivot()>=710){
|
||||
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;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/L4.java
Normal file
49
src/main/java/frc/robot/command/L4.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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 L4 extends Command {
|
||||
private Elevateur elevateur;
|
||||
/** Creates a new L2. */
|
||||
public L4(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.position()>=800 && elevateur.position()<=810){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=810){
|
||||
elevateur.vitesse(-0.5);
|
||||
}
|
||||
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.position()>=800;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/L4Pince.java
Normal file
49
src/main/java/frc/robot/command/L4Pince.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/command/StationPince.java
Normal file
49
src/main/java/frc/robot/command/StationPince.java
Normal file
@@ -0,0 +1,49 @@
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
32
src/main/java/frc/robot/subsystems/Elevateur.java
Normal file
32
src/main/java/frc/robot/subsystems/Elevateur.java
Normal file
@@ -0,0 +1,32 @@
|
||||
// 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.wpilibj2.command.SubsystemBase;
|
||||
import com.revrobotics.spark.SparkMax;
|
||||
import com.revrobotics.spark.SparkLowLevel.MotorType;
|
||||
public class Elevateur extends SubsystemBase {
|
||||
/** Creates a new Elevateur. */
|
||||
public Elevateur() {}
|
||||
final SparkMax monte = new SparkMax(0, MotorType.kBrushless);
|
||||
final DigitalInput limit2 = new DigitalInput(0);
|
||||
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
|
||||
}
|
||||
}
|
||||
26
src/main/java/frc/robot/subsystems/Grimpeur.java
Normal file
26
src/main/java/frc/robot/subsystems/Grimpeur.java
Normal file
@@ -0,0 +1,26 @@
|
||||
// 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(0);
|
||||
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
|
||||
}
|
||||
}
|
||||
50
src/main/java/frc/robot/subsystems/Pince.java
Normal file
50
src/main/java/frc/robot/subsystems/Pince.java
Normal file
@@ -0,0 +1,50 @@
|
||||
// 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
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user