Grimpeur, Fonctionne

simgui-ds.json

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

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

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

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

@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.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());
-  }
-
-  // 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;
-  }
-}

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

@@ -0,0 +1,56 @@
+// 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.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimperHaut extends Command {
+  private Grimpeur grimpeur;
+  private Bougie bougie;
+  /** Creates a new Grimper. */
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
+    this.grimpeur = grimpeur;
+    this.bougie = bougie;
+    addRequirements(grimpeur,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(grimpeur.stop()==true){
+      grimpeur.grimpe(0);
+      grimpeur.reset();
+      bougie.RainBow();
+    }
+    else{
+      grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return grimpeur.stop()==true;
+  }
+}

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Grimpeur;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class L2 extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public L2(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,22 +24,20 @@ public class L2 extends Command {
   // 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);
+    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
+      grimpeur.grimpe(0);
     }
-    else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.3);
+    else if(grimpeur.encodeur()>=-38.5){
+      grimpeur.grimpe(-0.5);
     }
-    else{
-      elevateur.vitesse(.3);
-    }
-
+   else{grimpeur.grimpe(0.5);
+  } 
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

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

@@ -4,16 +4,20 @@
 
 package frc.robot.commands;
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Grimpeur;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class L3 extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public L3(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+public class GrimpeurManuel extends Command {
+  private Grimpeur grimpeur;
+  private DoubleSupplier x;
+  /** Creates a new GrimpeurManuel. */
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
+    this.grimpeur = grimpeur;
+    this.x = x;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,21 +28,19 @@ public class L3 extends Command {
   // 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);
+    if(grimpeur.stop()){
+      grimpeur.grimpe(0);
     }
     else{
-      elevateur.vitesse(.5);
+    grimpeur.grimpe(x.getAsDouble());  
     }
+    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+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 Depart extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public Depart(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+public class RainBow extends Command {
+  /** Creates a new RainBow. */
+  private Bougie bougie;
+  public RainBow(Bougie bougie) {
+    this.bougie = bougie;
+    addRequirements(bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,24 +24,18 @@ public class Depart extends Command {
   // 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);
-    }
+    bougie.RainBow();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    bougie.RainBowStop();
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.limit2()==true;
+    return false;
   }
 }

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Grimpeur;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class L4 extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public L4(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+public class ResetGrimpeur extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new ResetGrimpeur. */
+  public ResetGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,26 +24,16 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=800 && elevateur.position()<=810){
-      elevateur.vitesse(0);
-    }
-    else if(elevateur.position()>=810){
-      elevateur.vitesse(-0.5);
-    }
-    else{
-      elevateur.vitesse(.5);
-    }
+    grimpeur.reset();
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-    elevateur.vitesse(0);
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=800;
+    return false;
   }
 }

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

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Bougie extends SubsystemBase {
+  CANdle candle = new CANdle(5);
+  CANdleConfiguration config = new CANdleConfiguration();
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  /** Creates a new Bougie. */
+  public Bougie() {
+    config.brightnessScalar = 0.5;
+    candle.configAllSettings(config);
+  }
+  public void Rouge() {
+   candle.setLEDs(255, 0, 0);
+  }
+  public void Vert() {
+   candle.setLEDs(0, 255, 0);
+  }
+  public void Bleu() {
+   candle.setLEDs(0, 0, 255);
+  }
+  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBowStop(){candle.animate(null);}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
+

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

@@ -1,32 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-public class Elevateur extends SubsystemBase {
-  /** Creates a new Elevateur. */
-  public Elevateur() {}
-  final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
-  final DigitalInput limit2 = new DigitalInput(0);
-  public double position(){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesse(double vitesse){
-    monte.set(vitesse);
-  }
-  public boolean limit2(){
-    return limit2.get();
-  } 
-  public void reset(){
-    monte.getEncoder().setPosition(0);
-  }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

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

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