Compare commits
28 Commits
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|---|---|---|---|
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| 0524ec6355 | |||
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| dc36eea320 | |||
| eaa14fb1b1 | |||
| 3458203225 | |||
| 6683613c7f | |||
| 2ac9cfe8ff | |||
| 56704c3e68 | |||
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| afe25cf046 | |||
| eec4eee2ff | |||
| 15be1d67ea | |||
| e4c7a12606 | |||
| 72da7b7d74 | |||
| fd8ab8663b |
109
simgui-ds.json
Normal file
109
simgui-ds.json
Normal file
@ -0,0 +1,109 @@
|
||||
{
|
||||
"FMS": {
|
||||
"window": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"Joysticks": {
|
||||
"window": {
|
||||
"visible": 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": [
|
||||
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|
||||
268,
|
||||
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|
||||
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|
||||
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|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{},
|
||||
{
|
||||
"guid": "78696e70757401000000000000000000",
|
||||
"useGamepad": true
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -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",
|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "parallel",
|
||||
"data": {
|
||||
"commands": [
|
||||
{
|
||||
"type": "path",
|
||||
"data": {
|
||||
"pathName": "BlueBasChercher"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "AprilTag"
|
||||
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|
||||
},
|
||||
{
|
||||
"type": "sequential",
|
||||
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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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|
||||
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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": "CoralInspire"
|
||||
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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": {
|
||||
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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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|
||||
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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",
|
||||
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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": {
|
||||
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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": "AprilTag"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
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|
||||
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|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
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|
||||
"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": {
|
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|
||||
{
|
||||
"type": "wait",
|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "L4"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
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|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "named",
|
||||
"data": {
|
||||
"name": "CoralExpire"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"resetOdom": true,
|
||||
"folder": null,
|
||||
"choreoAuto": false
|
||||
}
|
||||
@ -1,151 +0,0 @@
|
||||
{
|
||||
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||||
"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 +4,46 @@
|
||||
|
||||
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.BalayeuseAlgue;
|
||||
import frc.robot.commands.BalayeuseBas;
|
||||
import frc.robot.commands.BalayeuseCoral;
|
||||
import frc.robot.commands.BalayeuseHaut;
|
||||
import frc.robot.commands.L1Requin;
|
||||
import frc.robot.commands.aspire;
|
||||
import frc.robot.commands.exspire;
|
||||
import frc.robot.commands.requin_manuel;
|
||||
import frc.robot.subsystems.Requin;
|
||||
import frc.robot.subsystems.Bougie;
|
||||
import frc.robot.commands.aspire;
|
||||
public class RobotContainer {
|
||||
|
||||
private final CommandXboxController joystick = new CommandXboxController(0);
|
||||
|
||||
|
||||
|
||||
|
||||
CommandXboxController manette1 = new CommandXboxController(0);
|
||||
CommandXboxController manette2 = new CommandXboxController(1);
|
||||
Requin requin = new Requin();
|
||||
Bougie bougie = new Bougie();
|
||||
aspire aspire = new aspire(requin);
|
||||
requin_manuel requin_manuel = new requin_manuel(requin);
|
||||
public RobotContainer() {
|
||||
|
||||
configureBindings();
|
||||
requin.setDefaultCommand(new RunCommand(()->{
|
||||
requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
|
||||
}, requin));
|
||||
}
|
||||
|
||||
private void configureBindings() {
|
||||
|
||||
|
||||
manette2.a().whileTrue(new aspire(requin));
|
||||
manette2.rightTrigger().whileTrue(new exspire(requin));
|
||||
manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
|
||||
manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
|
||||
manette2.y().whileTrue(new L1Requin(requin,bougie));
|
||||
manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
|
||||
}
|
||||
|
||||
public Command getAutonomousCommand() {
|
||||
return Commands.print("");
|
||||
return Commands.print("No autonomous command configured");
|
||||
}
|
||||
}
|
||||
|
||||
63
src/main/java/frc/robot/commands/BalayeuseAlgue.java
Normal file
63
src/main/java/frc/robot/commands/BalayeuseAlgue.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.Bougie;
|
||||
import frc.robot.subsystems.Requin;
|
||||
|
||||
/* 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 BalayeuseAlgue extends Command {
|
||||
private Requin requin;
|
||||
private Bougie bougie;
|
||||
/** Creates a new Balayeuse. */
|
||||
public BalayeuseAlgue(Requin requin, Bougie bougie) {
|
||||
this.requin = requin;
|
||||
this.bougie =bougie;
|
||||
addRequirements(requin,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(requin.encodeur()>=500 && requin.encodeur()<=510)
|
||||
{
|
||||
requin.rotationer(0);
|
||||
if(requin.amp()> 60){
|
||||
requin.balaye(0);
|
||||
bougie.Vert();
|
||||
}
|
||||
else
|
||||
{
|
||||
requin.balaye(0.5);
|
||||
}
|
||||
}
|
||||
else if(requin.encodeur()>=510){
|
||||
requin.rotationer(0.5);
|
||||
}
|
||||
else{
|
||||
requin.rotationer(-0.5);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.rotationer(0);
|
||||
requin.balaye(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
40
src/main/java/frc/robot/commands/BalayeuseBas.java
Normal file
40
src/main/java/frc/robot/commands/BalayeuseBas.java
Normal file
@ -0,0 +1,40 @@
|
||||
// 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.Requin;
|
||||
|
||||
/* 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 BalayeuseBas extends Command {
|
||||
private Requin requin;
|
||||
/** Creates a new Balayeuse. */
|
||||
public BalayeuseBas(Requin requin) {
|
||||
this.requin = requin;
|
||||
addRequirements(requin);
|
||||
// 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() {
|
||||
requin.rotationer(-0.5);
|
||||
}
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.rotationer(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
67
src/main/java/frc/robot/commands/BalayeuseCoral.java
Normal file
67
src/main/java/frc/robot/commands/BalayeuseCoral.java
Normal file
@ -0,0 +1,67 @@
|
||||
// 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.Requin;
|
||||
|
||||
/* 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 BalayeuseCoral extends Command {
|
||||
private Requin requin;
|
||||
private Bougie bougie;
|
||||
/** Creates a new Balayeuse. */
|
||||
public BalayeuseCoral(Requin requin, Bougie bougie) {
|
||||
this.requin = requin;
|
||||
this.bougie = bougie;
|
||||
addRequirements(requin,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(requin.encodeur()>=100 && requin.encodeur()<=110){
|
||||
requin.rotationer(0);
|
||||
if(requin.amp()>60){
|
||||
requin.balaye(0);
|
||||
bougie.Vert();
|
||||
if(requin.enHaut()){
|
||||
requin.rotationer(0);
|
||||
}
|
||||
else{
|
||||
requin.rotationer(0.5);
|
||||
}
|
||||
}
|
||||
else{
|
||||
requin.balaye(0.5);
|
||||
}
|
||||
}
|
||||
else if(requin.encodeur()>=110){
|
||||
requin.rotationer(0.5);
|
||||
}
|
||||
else{
|
||||
requin.rotationer(-0.5);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.rotationer(0);
|
||||
requin.balaye(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
47
src/main/java/frc/robot/commands/BalayeuseHaut.java
Normal file
47
src/main/java/frc/robot/commands/BalayeuseHaut.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.Requin;
|
||||
|
||||
/* 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 BalayeuseHaut extends Command {
|
||||
private Requin requin;
|
||||
/** Creates a new Balayeuse. */
|
||||
public BalayeuseHaut(Requin requin) {
|
||||
this.requin = requin;
|
||||
addRequirements(requin);
|
||||
// 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(requin.enHaut()==true){
|
||||
requin.rotationer(0);
|
||||
requin.reset();
|
||||
}
|
||||
else{
|
||||
requin.rotationer(-0.5);
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.rotationer(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/commands/ExpireAlgue.java
Normal file
41
src/main/java/frc/robot/commands/ExpireAlgue.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.Requin;
|
||||
|
||||
/* 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 ExpireAlgue extends Command {
|
||||
private Requin requin;
|
||||
/** Creates a new ExpireAlgue. */
|
||||
public ExpireAlgue(Requin requin) {
|
||||
this.requin = requin;
|
||||
addRequirements(requin);
|
||||
// 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() {
|
||||
requin.balaye(0.5);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.balaye(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
65
src/main/java/frc/robot/commands/L1Requin.java
Normal file
65
src/main/java/frc/robot/commands/L1Requin.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.Bougie;
|
||||
import frc.robot.subsystems.Requin;
|
||||
|
||||
/* 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 L1Requin extends Command {
|
||||
private Requin requin;
|
||||
private Bougie bougie;
|
||||
/** Creates a new Balayeuse. */
|
||||
public L1Requin(Requin requin,Bougie bougie) {
|
||||
this.requin = requin;
|
||||
this.bougie = bougie;
|
||||
addRequirements(requin,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(requin.encodeur()>=800 && requin.encodeur()<=810){
|
||||
requin.rotationer(0);
|
||||
if(requin.amp()>8){
|
||||
requin.balaye(-0.5);
|
||||
}
|
||||
else{
|
||||
requin.balaye(0);
|
||||
bougie.Rouge();
|
||||
}
|
||||
}
|
||||
else if(requin.encodeur()>=810){
|
||||
requin.rotationer(0.5);
|
||||
}
|
||||
else{
|
||||
requin.rotationer(-0.5);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.rotationer(0);
|
||||
requin.balaye(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/commands/aspire.java
Normal file
41
src/main/java/frc/robot/commands/aspire.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.Requin;
|
||||
|
||||
/* 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 aspire extends Command {
|
||||
/** Creates a new aspire. */
|
||||
private Requin requin;
|
||||
public aspire(Requin requin) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.requin = requin;
|
||||
addRequirements(requin);
|
||||
}
|
||||
|
||||
// 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() {
|
||||
requin.balaye(0.3);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.balaye(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
41
src/main/java/frc/robot/commands/exspire.java
Normal file
41
src/main/java/frc/robot/commands/exspire.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.Requin;
|
||||
|
||||
/* 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 exspire extends Command {
|
||||
/** Creates a new aspire. */
|
||||
private Requin requin;
|
||||
public exspire(Requin requin) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.requin = requin;
|
||||
addRequirements(requin);
|
||||
}
|
||||
|
||||
// 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() {
|
||||
requin.balaye(-0.3);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.balaye(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
49
src/main/java/frc/robot/commands/requin_manuel.java
Normal file
49
src/main/java/frc/robot/commands/requin_manuel.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 java.util.function.DoubleSupplier;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.subsystems.Requin;
|
||||
|
||||
/* 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 requin_manuel extends Command {
|
||||
/** Creates a new requin_manuel. */
|
||||
private Requin requin;
|
||||
private DoubleSupplier x;
|
||||
public requin_manuel(Requin requin) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.requin = requin;
|
||||
addRequirements(requin);
|
||||
}
|
||||
|
||||
// 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(requin.enHaut()){
|
||||
requin.rotationer(0);
|
||||
}
|
||||
else{
|
||||
requin.rotationer(x.getAsDouble());
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
requin.rotationer(0);
|
||||
}
|
||||
|
||||
// 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 +20,34 @@ 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 RainBow(){candle.animate(rainbowAnim);}
|
||||
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
|
||||
}
|
||||
}
|
||||
|
||||
48
src/main/java/frc/robot/subsystems/Requin.java
Normal file
48
src/main/java/frc/robot/subsystems/Requin.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.subsystems;
|
||||
|
||||
import com.revrobotics.spark.SparkFlex;
|
||||
import com.revrobotics.spark.SparkMax;
|
||||
import com.revrobotics.spark.SparkLowLevel.MotorType;
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
public class Requin extends SubsystemBase {
|
||||
/** Creates a new Requin. */
|
||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||
public Requin() {
|
||||
teb.addBoolean("limit requin", this::enHaut);
|
||||
}
|
||||
|
||||
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
|
||||
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
|
||||
final DigitalInput limit3 = new DigitalInput(1);
|
||||
|
||||
public void balaye(double vitesse){
|
||||
balaye.set(vitesse);
|
||||
}
|
||||
public void rotationer(double vitesse){
|
||||
rotatione.set(vitesse);
|
||||
}
|
||||
public boolean enHaut(){
|
||||
return limit3.get();
|
||||
}
|
||||
public double encodeur(){
|
||||
return rotatione.getEncoder().getPosition();
|
||||
}
|
||||
public void reset(){
|
||||
rotatione.getEncoder().setPosition(0);
|
||||
}
|
||||
public double amp(){
|
||||
return balaye.getOutputCurrent();
|
||||
}
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user