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base: PLS5618:grimpe
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PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led
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compare: PLS5618:6fb4e0c1ac687785124e54a16fc23decf4d59d8f
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PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

5 Commits
grimpe ... 6fb4e0c1ac

Author SHA1 Message Date
samuel desharnais
6fb4e0c1ac w 2025-02-06 18:04:02 -05:00
samuel desharnais
9af46de189 oups 2025-02-06 18:03:36 -05:00
Antoine PerreaultE
688315bcd0 Saaaaaaaaaam 2025-02-06 17:46:04 -05:00
Antoine PerreaultE
bd180e9153 2025-01-29 19:35:45 -05:00
Antoine PerreaultE
bff426ef0f v 2025-01-28 18:29:17 -05:00
9 changed files with 28 additions and 423 deletions
Expand all files Collapse all files

97
simgui-ds.json
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@@ -1,97 +0,0 @@
{
"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
}
]
}

51
src/main/java/frc/robot/RobotContainer.java
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@@ -4,42 +4,31 @@
package frc.robot; package frc.robot;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; 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.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 { 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 final CommandXboxController manette1 = new CommandXboxController(0);
manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie)); private final CommandXboxController manette2 = new CommandXboxController(0);
manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
}
public Command getAutonomousCommand() { public RobotContainer() {
return Commands.print("No autonomous command configured");
} configureBindings();
}
private void configureBindings() {
// Note that X is defined as forward according to WPILib convention,
// and Y is defined as to the left according to WPILib convention.
// Run SysId routines when holding back/start and X/Y.
// Note that each routine should be run exactly once in a single log.
}
public Command getAutonomousCommand() {
return Commands.print("");
}
} }

56
src/main/java/frc/robot/commands/GrimperHaut.java
View File

@@ -1,56 +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 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;
}
}

48
src/main/java/frc/robot/commands/GrimpeurBas.java
View File

@@ -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 edu.wpi.first.wpilibj2.command.Command;
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 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.
}
// 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.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
grimpeur.grimpe(0);
}
else if(grimpeur.encodeur()>=-38.5){
grimpeur.grimpe(-0.5);
}
else{grimpeur.grimpe(0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.grimpe(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

51
src/main/java/frc/robot/commands/GrimpeurManuel.java
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@@ -1,51 +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.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 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.
}
// 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()){
grimpeur.grimpe(0);
}
else{
grimpeur.grimpe(x.getAsDouble());
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.grimpe(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/RainBow.java
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@@ -1,41 +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 edu.wpi.first.wpilibj2.command.Command;
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 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.
}
// 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() {
bougie.RainBow();
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
bougie.RainBowStop();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

39
src/main/java/frc/robot/commands/ResetGrimpeur.java
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@@ -1,39 +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 edu.wpi.first.wpilibj2.command.Command;
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 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.
}
// 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() {
grimpeur.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;
}
}

38
src/main/java/frc/robot/subsystems/Bougie.java
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@@ -1,38 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import com.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
}
}

26
src/main/java/frc/robot/subsystems/Grimpeur.java
View File

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