Compare commits
45 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| e58cdf0b5b | |||
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| bb9d5a5550 | |||
| 69ef6b6982 | |||
| 0be9356fa9 | |||
| 1627770572 | |||
| c1bdf0aab7 | |||
| 0e04704942 | |||
| 53adcf5701 | |||
| 319c370c6e | |||
| 451d3c6e20 | |||
| 2260580c81 | |||
| 9cd08cf07c | |||
| 8aca411a23 | |||
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| 210d219793 | |||
| 06abfa4dbb | |||
| 26a4b9f9a3 | |||
| b384585224 | |||
| ee2c9ff4b2 | |||
| 20c95efe93 | |||
| 4869632d6d | |||
| afaec61f6d | |||
| 126058e9d4 | |||
| 1f17aaf4de | |||
| eece0f47fa | |||
| c81f118058 | |||
| 7848c4aaf2 | |||
| 1d1d6e962d | |||
| d6420659e9 | |||
| aafb2a62b5 | |||
| 0fdfa4269d | |||
| 017f168b3c | |||
| 5ffa28596c | |||
| e7b4b47928 | |||
| 0577ce368a | |||
| 7521c0d94e | |||
| b16d11b70a |
1
.SysId/sysid.json
Normal file
1
.SysId/sysid.json
Normal file
@ -0,0 +1 @@
|
||||
{}
|
||||
102
simgui-ds.json
Normal file
102
simgui-ds.json
Normal file
@ -0,0 +1,102 @@
|
||||
{
|
||||
"Joysticks": {
|
||||
"window": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"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
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -1,57 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
@ -1,151 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 1.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasChercher"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "Station"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasPorter"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
@ -1,245 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 1.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasChercher"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "Station"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralInspire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasPorter"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 1.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasChercher2"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralInspire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralInspire"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasPorter2"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
@ -1,57 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"command": {
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueHautStart"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "wait",
|
||||
"data": {
|
||||
"waitTime": 0.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
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||||
"rotation": 180.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@ -1,54 +0,0 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.504303278688524,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 7.084733606557376,
|
||||
"y": 6.488473360655737
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.849999999999999,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.32950819672131,
|
||||
"y": 6.464497950819672
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@ -1,32 +0,0 @@
|
||||
{
|
||||
"robotWidth": 0.9,
|
||||
"robotLength": 0.9,
|
||||
"holonomicMode": true,
|
||||
"pathFolders": [],
|
||||
"autoFolders": [],
|
||||
"defaultMaxVel": 3.0,
|
||||
"defaultMaxAccel": 3.0,
|
||||
"defaultMaxAngVel": 540.0,
|
||||
"defaultMaxAngAccel": 720.0,
|
||||
"defaultNominalVoltage": 12.0,
|
||||
"robotMass": 74.088,
|
||||
"robotMOI": 6.883,
|
||||
"robotTrackwidth": 0.546,
|
||||
"driveWheelRadius": 0.048,
|
||||
"driveGearing": 5.143,
|
||||
"maxDriveSpeed": 5.45,
|
||||
"driveMotorType": "krakenX60",
|
||||
"driveCurrentLimit": 60.0,
|
||||
"wheelCOF": 1.2,
|
||||
"flModuleX": 0.35,
|
||||
"flModuleY": 0.267,
|
||||
"frModuleX": 0.35,
|
||||
"frModuleY": -0.267,
|
||||
"blModuleX": -0.35,
|
||||
"blModuleY": 0.267,
|
||||
"brModuleX": -0.35,
|
||||
"brModuleY": -0.267,
|
||||
"bumperOffsetX": 0.0,
|
||||
"bumperOffsetY": 0.0,
|
||||
"robotFeatures": []
|
||||
}
|
||||
@ -4,46 +4,77 @@
|
||||
|
||||
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.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 edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
import frc.robot.commands.Algue1Test;
|
||||
import frc.robot.commands.Algue2Test;
|
||||
import frc.robot.commands.AlgueExpire;
|
||||
import frc.robot.commands.CorailAspir;
|
||||
import frc.robot.commands.CorailTest;
|
||||
import frc.robot.commands.CoralAlgueInspire;
|
||||
import frc.robot.commands.CoralExpire;
|
||||
import frc.robot.commands.Depart;
|
||||
import frc.robot.commands.DepartPince;
|
||||
import frc.robot.commands.ElevateurManuel;
|
||||
import frc.robot.commands.L2;
|
||||
import frc.robot.commands.L3;
|
||||
import frc.robot.commands.L4;
|
||||
import frc.robot.commands.PinceManuel;
|
||||
import frc.robot.commands.PinceManuel2;
|
||||
import frc.robot.commands.StationPince;
|
||||
import frc.robot.commands.reset;
|
||||
import frc.robot.subsystems.Elevateur;
|
||||
import frc.robot.subsystems.Pince;
|
||||
import frc.robot.subsystems.Bougie;
|
||||
public class RobotContainer {
|
||||
|
||||
private final CommandXboxController joystick = new CommandXboxController(0);
|
||||
CommandXboxController manette1 = new CommandXboxController(0);
|
||||
CommandXboxController manette2 = new CommandXboxController(1);
|
||||
Bougie bougie = new Bougie();
|
||||
Pince pince = new Pince();
|
||||
Elevateur elevateur = new Elevateur();
|
||||
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
|
||||
PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
|
||||
PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
|
||||
public RobotContainer() {
|
||||
configureBindings();
|
||||
elevateur.setDefaultCommand(new RunCommand(()->{
|
||||
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
|
||||
}, elevateur));
|
||||
pince.setDefaultCommand(new RunCommand(()->{
|
||||
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
|
||||
}, pince));
|
||||
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
|
||||
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
|
||||
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
|
||||
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
|
||||
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
|
||||
|
||||
}
|
||||
|
||||
private void configureBindings() {
|
||||
// manette1
|
||||
manette1.a().whileTrue(new Depart(elevateur, pince));
|
||||
manette1.b().whileTrue(new L2(elevateur,pince));
|
||||
manette1.x().whileTrue(new L3(elevateur, pince));
|
||||
manette1.y().whileTrue(new L4(elevateur, pince));
|
||||
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
|
||||
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
|
||||
//manette2
|
||||
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
|
||||
manette2.a().whileTrue(new CorailAspir(pince));
|
||||
manette2.b().whileTrue(new CoralExpire(pince, bougie));
|
||||
manette2.povLeft().whileTrue(new Algue1Test(pince));
|
||||
manette2.povRight().whileTrue(new Algue2Test(pince));
|
||||
manette2.x().whileTrue(new CorailTest(pince));
|
||||
manette2.start().whileTrue(new reset(elevateur));
|
||||
}
|
||||
|
||||
|
||||
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/commands/Algue1Test.java
Normal file
41
src/main/java/frc/robot/commands/Algue1Test.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.commands;
|
||||
|
||||
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 Algue1Test extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new AlgueTest. */
|
||||
public Algue1Test(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.algue1Test(0.2);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
pince.algue1Test(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/commands/Algue2Test.java
Normal file
41
src/main/java/frc/robot/commands/Algue2Test.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.commands;
|
||||
|
||||
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 Algue2Test extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new AlgueTest. */
|
||||
public Algue2Test(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.algue2Test(0.2);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
pince.algue2Test(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
51
src/main/java/frc/robot/commands/AlgueExpire.java
Normal file
51
src/main/java/frc/robot/commands/AlgueExpire.java
Normal file
@ -0,0 +1,51 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.subsystems.Bougie;
|
||||
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;
|
||||
private Bougie bougie;
|
||||
/** Creates a new CoralAlgue. */
|
||||
public AlgueExpire(Pince pince,Bougie bougie) {
|
||||
this.pince = pince;
|
||||
this.bougie = bougie;
|
||||
addRequirements(pince,bougie);
|
||||
// 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.emperagealgue()>60){
|
||||
pince.aspirealgue(-0.5);
|
||||
}
|
||||
else{
|
||||
pince.aspirealgue(-0.5);
|
||||
bougie.Jaune();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
42
src/main/java/frc/robot/commands/CorailAspir.java
Normal file
42
src/main/java/frc/robot/commands/CorailAspir.java
Normal file
@ -0,0 +1,42 @@
|
||||
// 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.commands;
|
||||
|
||||
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 CorailAspir extends Command {
|
||||
/** Creates a new CorailAspir. */
|
||||
private Pince pince;
|
||||
public CorailAspir(Pince pince) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.pince = pince;
|
||||
addRequirements(pince);
|
||||
}
|
||||
|
||||
// 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(0.5);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/commands/CorailTest.java
Normal file
41
src/main/java/frc/robot/commands/CorailTest.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.commands;
|
||||
|
||||
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 CorailTest extends Command {
|
||||
private Pince pince;
|
||||
/** Creates a new AlgueTest. */
|
||||
public CorailTest(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(0.2);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
53
src/main/java/frc/robot/commands/CoralAlgueInspire.java
Normal file
53
src/main/java/frc/robot/commands/CoralAlgueInspire.java
Normal file
@ -0,0 +1,53 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.subsystems.Bougie;
|
||||
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;
|
||||
private Bougie bougie;
|
||||
/** Creates a new CoralAlgue. */
|
||||
public CoralAlgueInspire(Pince pince, Bougie bougie) {
|
||||
this.pince = pince;
|
||||
this.bougie = bougie;
|
||||
addRequirements(pince,bougie);
|
||||
// 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()>60){
|
||||
pince.aspirealgue(0);
|
||||
bougie.Bleu();
|
||||
}
|
||||
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;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/commands/CoralExpire.java
Normal file
49
src/main/java/frc/robot/commands/CoralExpire.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.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 {
|
||||
private Pince pince;
|
||||
Bougie bougie;
|
||||
/** Creates a new CoralAlgue. */
|
||||
public CoralExpire(Pince pince, Bougie bougie) {
|
||||
this.pince = pince;
|
||||
this.bougie = bougie;
|
||||
addRequirements(pince,bougie);
|
||||
// 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() > 60){
|
||||
// pince.aspirecoral(0);
|
||||
//}
|
||||
//else{
|
||||
pince.aspirecoral(-.5);
|
||||
//bougie.Jaune();
|
||||
// }
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
52
src/main/java/frc/robot/commands/Depart.java
Normal file
52
src/main/java/frc/robot/commands/Depart.java
Normal file
@ -0,0 +1,52 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.subsystems.Elevateur;
|
||||
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 Depart extends Command {
|
||||
private Elevateur elevateur;
|
||||
private Pince pince;
|
||||
/** Creates a new L2. */
|
||||
public Depart(Elevateur elevateur, Pince pince) {
|
||||
this.pince = pince;
|
||||
this.elevateur = elevateur;
|
||||
addRequirements(elevateur,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(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);
|
||||
pince.pivote(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return elevateur.limit2()==true;
|
||||
}
|
||||
}
|
||||
47
src/main/java/frc/robot/commands/DepartPince.java
Normal file
47
src/main/java/frc/robot/commands/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.commands;
|
||||
|
||||
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(.2);
|
||||
}
|
||||
}
|
||||
|
||||
// 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/commands/ElevateurManuel.java
Normal file
48
src/main/java/frc/robot/commands/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.commands;
|
||||
|
||||
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()/7);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
65
src/main/java/frc/robot/commands/L2.java
Normal file
65
src/main/java/frc/robot/commands/L2.java
Normal file
@ -0,0 +1,65 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
import frc.robot.subsystems.Elevateur;
|
||||
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 L2 extends Command {
|
||||
private Elevateur elevateur;
|
||||
private Pince pince;
|
||||
/** Creates a new L2. */
|
||||
public L2(Elevateur elevateur,Pince pince) {
|
||||
this.elevateur = elevateur;
|
||||
this.pince = pince;
|
||||
addRequirements(elevateur,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(elevateur.position()>=500 && elevateur.position()<=510){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=510){
|
||||
elevateur.vitesse(0.3);
|
||||
}
|
||||
else{
|
||||
elevateur.vitesse(.3);
|
||||
}
|
||||
if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
|
||||
pince.pivote(0);
|
||||
|
||||
}
|
||||
else if(pince.encodeurpivot()>=510){
|
||||
pince.pivote(0.2);
|
||||
}
|
||||
else{
|
||||
pince.pivote(-0.2);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
elevateur.vitesse(0);
|
||||
pince.pivote(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
63
src/main/java/frc/robot/commands/L3.java
Normal file
63
src/main/java/frc/robot/commands/L3.java
Normal file
@ -0,0 +1,63 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
import frc.robot.subsystems.Elevateur;
|
||||
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 L3 extends Command {
|
||||
private Elevateur elevateur;
|
||||
private Pince pince;
|
||||
/** Creates a new L2. */
|
||||
public L3(Elevateur elevateur,Pince pince) {
|
||||
this.elevateur = elevateur;
|
||||
this.pince = pince;
|
||||
addRequirements(elevateur,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(elevateur.position()>=700 && elevateur.position()<=710){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=510){
|
||||
elevateur.vitesse(0.5);
|
||||
}
|
||||
else{
|
||||
elevateur.vitesse(-.5);
|
||||
}
|
||||
if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
|
||||
pince.pivote(0);
|
||||
}
|
||||
else if(pince.encodeurpivot()>=710){
|
||||
pince.pivote(0.2);
|
||||
}
|
||||
else{
|
||||
pince.pivote(-0.2);
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
elevateur.vitesse(0);
|
||||
pince.pivote(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
63
src/main/java/frc/robot/commands/L4.java
Normal file
63
src/main/java/frc/robot/commands/L4.java
Normal file
@ -0,0 +1,63 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
import frc.robot.subsystems.Elevateur;
|
||||
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 L4 extends Command {
|
||||
private Elevateur elevateur;
|
||||
private Pince pince;
|
||||
/** Creates a new L2. */
|
||||
public L4(Elevateur elevateur,Pince pince) {
|
||||
this.elevateur = elevateur;
|
||||
this.pince = pince;
|
||||
addRequirements(elevateur,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(elevateur.position()>=800 && elevateur.position()<=809){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=810){
|
||||
elevateur.vitesse(0.5);
|
||||
}
|
||||
else{
|
||||
elevateur.vitesse(.5);
|
||||
}
|
||||
if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
|
||||
pince.pivote(0);
|
||||
}
|
||||
else if(pince.encodeurpivot()>=810){
|
||||
pince.pivote(0.2);
|
||||
}
|
||||
else{
|
||||
pince.pivote(-0.2);
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
elevateur.vitesse(0);
|
||||
pince.pivote(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
50
src/main/java/frc/robot/commands/PinceManuel.java
Normal file
50
src/main/java/frc/robot/commands/PinceManuel.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.commands;
|
||||
import java.util.function.DoubleSupplier;
|
||||
|
||||
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 PinceManuel extends Command {
|
||||
private Pince pince;
|
||||
private DoubleSupplier x;
|
||||
/** Creates a new PinceManuel. */
|
||||
public PinceManuel(Pince pince, DoubleSupplier x) {
|
||||
this.pince = pince;
|
||||
this.x = x;
|
||||
//this.doubleSupplier = doubleSupplier;
|
||||
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()){
|
||||
pince.pivote(0);
|
||||
}
|
||||
else{
|
||||
pince.pivote(x.getAsDouble());
|
||||
}
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
47
src/main/java/frc/robot/commands/PinceManuel2.java
Normal file
47
src/main/java/frc/robot/commands/PinceManuel2.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.commands;
|
||||
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 PinceManuel2 extends Command {
|
||||
private Pince pince;
|
||||
//private DoubleSupplier doubleSupplier;
|
||||
/** Creates a new PinceManuel. */
|
||||
public PinceManuel2(Pince pince
|
||||
|
||||
//,DoubleSupplier doubleSupplier
|
||||
) {
|
||||
this.pince = pince;
|
||||
// this.doubleSupplier = doubleSupplier;
|
||||
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.pivote(-0.2);
|
||||
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
64
src/main/java/frc/robot/commands/StationPince.java
Normal file
64
src/main/java/frc/robot/commands/StationPince.java
Normal file
@ -0,0 +1,64 @@
|
||||
// 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.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.subsystems.Elevateur;
|
||||
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;
|
||||
private Elevateur elevateur;
|
||||
/** Creates a new L2Pince. */
|
||||
public StationPince(Pince pince,Elevateur elevateur) {
|
||||
this.elevateur = elevateur;
|
||||
this.pince = pince;
|
||||
addRequirements(pince,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() {
|
||||
pince.aspirecoral(0.5);
|
||||
if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
|
||||
pince.pivote(0);
|
||||
}
|
||||
else if(pince.encodeurpivot()>=910){
|
||||
pince.pivote(0.2);
|
||||
}
|
||||
else{
|
||||
pince.pivote(-0.2);
|
||||
}
|
||||
if(elevateur.position()>=400 && elevateur.position()<=410){
|
||||
elevateur.vitesse(0);
|
||||
}
|
||||
else if(elevateur.position()>=410){
|
||||
elevateur.vitesse(0.3);
|
||||
}
|
||||
else{
|
||||
elevateur.vitesse(-.3);
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
pince.pivote(0);
|
||||
pince.aspirecoral(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/commands/reset.java
Normal file
41
src/main/java/frc/robot/commands/reset.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.commands;
|
||||
|
||||
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 reset extends Command {
|
||||
/** Creates a new reset. */
|
||||
private Elevateur elevateur;
|
||||
public reset(Elevateur elevateur) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.elevateur = elevateur;
|
||||
addRequirements(elevateur);
|
||||
}
|
||||
|
||||
// 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() {
|
||||
elevateur.reset();
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@ -2,7 +2,7 @@
|
||||
// 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;
|
||||
package frc.robot.subsystems;
|
||||
|
||||
import com.ctre.phoenix.led.CANdle;
|
||||
import com.ctre.phoenix.led.CANdleConfiguration;
|
||||
@ -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(5);
|
||||
CANdle candle = new CANdle(23);
|
||||
CANdleConfiguration config = new CANdleConfiguration();
|
||||
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
|
||||
/** Creates a new Bougie. */
|
||||
@ -20,18 +20,33 @@ public class Bougie extends SubsystemBase {
|
||||
candle.configAllSettings(config);
|
||||
}
|
||||
public void Rouge() {
|
||||
candle.setLEDs(255, 0, 0);
|
||||
candle.setLEDs(255, 0, 0,0,8,8);
|
||||
candle.setLEDs(255, 0, 0,0,24,8);
|
||||
candle.setLEDs(255, 0, 0,0,40,8);
|
||||
candle.setLEDs(255, 0, 0,0,56,8);
|
||||
}
|
||||
public void Vert() {
|
||||
candle.setLEDs(0, 255, 0);
|
||||
candle.setLEDs(0, 255, 0,0,8,8);
|
||||
candle.setLEDs(0, 255, 0,0,24,8);
|
||||
candle.setLEDs(0, 255, 0,0,40,8);
|
||||
candle.setLEDs(0, 255, 0,0,56,8);
|
||||
}
|
||||
public void Bleu() {
|
||||
candle.setLEDs(0, 0, 255);
|
||||
candle.setLEDs(0, 0, 255,0,16,8);
|
||||
candle.setLEDs(0, 0, 255,0,32,8);
|
||||
candle.setLEDs(0, 0, 255,0,48,8);
|
||||
candle.setLEDs(0, 0, 255,0,64,8);
|
||||
}
|
||||
public void Jaune() {
|
||||
candle.setLEDs(255, 215, 0,0,16,8);
|
||||
candle.setLEDs(255, 215, 0,0,32,8);
|
||||
candle.setLEDs(255, 215, 0,0,48,8);
|
||||
candle.setLEDs(255, 215, 0,0,64,8);
|
||||
}
|
||||
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
|
||||
}
|
||||
}
|
||||
|
||||
37
src/main/java/frc/robot/subsystems/Elevateur.java
Normal file
37
src/main/java/frc/robot/subsystems/Elevateur.java
Normal file
@ -0,0 +1,37 @@
|
||||
// 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.networktables.GenericEntry;
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
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(22, MotorType.kBrushless);
|
||||
final DigitalInput limit2 = new DigitalInput(1);
|
||||
GenericEntry teb = Shuffleboard.getTab("teb")
|
||||
.add("elevateur encodeur",position())
|
||||
.getEntry();
|
||||
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
|
||||
}
|
||||
}
|
||||
61
src/main/java/frc/robot/subsystems/Pince.java
Normal file
61
src/main/java/frc/robot/subsystems/Pince.java
Normal file
@ -0,0 +1,61 @@
|
||||
// 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.networktables.GenericEntry;
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
public class Pince extends SubsystemBase {
|
||||
/** Creates a new Pince. */
|
||||
public Pince() {}
|
||||
final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
|
||||
final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
|
||||
final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
|
||||
final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
|
||||
final DigitalInput limit6 = new DigitalInput(0);
|
||||
GenericEntry teb = Shuffleboard.getTab("teb")
|
||||
.add("pince encodeur",encodeurpivot())
|
||||
.getEntry();
|
||||
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();
|
||||
}
|
||||
public void algue1Test(double vitesse){
|
||||
algue1.set(vitesse);
|
||||
}
|
||||
public void algue2Test(double vitesse){
|
||||
algue2.set(vitesse);
|
||||
}
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user