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base: PLS5618:pince
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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:elevateur
Branches Tags
PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

2 Commits
pince ... elevateur

Author SHA1 Message Date
Antoine PerreaultE
36456f1fe4 id 2025-02-22 12:50:18 -05:00
Antoine PerreaultE
0567735a6f command -> commands 2025-02-06 17:51:18 -05:00
24 changed files with 46 additions and 916 deletions
Expand all files Collapse all files

1
.SysId/sysid.json
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@ -1 +0,0 @@
{}

102
simgui-ds.json
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@ -1,102 +0,0 @@
{
"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
}
]
}

64
src/main/java/frc/robot/RobotContainer.java
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@ -4,75 +4,15 @@
package frc.robot; package frc.robot;
import com.pathplanner.lib.auto.NamedCommands;
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 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 {
CommandXboxController manette1 = new CommandXboxController(0); public class RobotContainer {
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() { public RobotContainer() {
configureBindings(); 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() { 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 Command getAutonomousCommand() { public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured"); return Commands.print("No autonomous command configured");

41
src/main/java/frc/robot/commands/Algue1Test.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.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
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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.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
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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 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
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@ -1,42 +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.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
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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.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
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@ -1,53 +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.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
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@ -1,49 +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.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;
}
}

11
src/main/java/frc/robot/commands/Depart.java
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@ -6,17 +6,14 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; 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 */ /* 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 { public class Depart extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */ /** Creates a new L2. */
public Depart(Elevateur elevateur, Pince pince) { public Depart(Elevateur elevateur) {
this.pince = pince;
this.elevateur = elevateur; this.elevateur = elevateur;
addRequirements(elevateur,pince); addRequirements(elevateur);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -32,16 +29,14 @@ public class Depart extends Command {
elevateur.reset(); elevateur.reset();
} }
else{ else{
elevateur.vitesse(.5); elevateur.vitesse(-.5);
} }
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
elevateur.vitesse(0); elevateur.vitesse(0);
pince.pivote(0);
} }
// Returns true when the command should end. // Returns true when the command should end.

47
src/main/java/frc/robot/commands/DepartPince.java
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@ -1,47 +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.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;
}
}

2
src/main/java/frc/robot/commands/ElevateurManuel.java
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@ -31,7 +31,7 @@ public class ElevateurManuel extends Command {
if(elevateur.limit2()==true){ if(elevateur.limit2()==true){
elevateur.vitesse(0); elevateur.vitesse(0);
} }
elevateur.vitesse(doubleSupplier.getAsDouble()/7); elevateur.vitesse(doubleSupplier.getAsDouble());
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

21
src/main/java/frc/robot/commands/L2.java
View File

@ -5,19 +5,15 @@
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; 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 */ /* 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 { public class L2 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */ /** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) { public L2(Elevateur elevateur) {
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; addRequirements(elevateur);
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -32,21 +28,11 @@ public class L2 extends Command {
elevateur.vitesse(0); elevateur.vitesse(0);
} }
else if(elevateur.position()>=510){ else if(elevateur.position()>=510){
elevateur.vitesse(0.3); elevateur.vitesse(-0.3);
} }
else{ else{
elevateur.vitesse(.3); 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);
}
} }
@ -54,7 +40,6 @@ public class L2 extends Command {
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
elevateur.vitesse(0); elevateur.vitesse(0);
pince.pivote(0);
} }
// Returns true when the command should end. // Returns true when the command should end.

22
src/main/java/frc/robot/commands/L3.java
View File

@ -5,19 +5,15 @@
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; 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 */ /* 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 { public class L3 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */ /** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) { public L3(Elevateur elevateur) {
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; addRequirements(elevateur);
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -32,19 +28,10 @@ public class L3 extends Command {
elevateur.vitesse(0); elevateur.vitesse(0);
} }
else if(elevateur.position()>=510){ else if(elevateur.position()>=510){
elevateur.vitesse(0.5); elevateur.vitesse(-0.5);
} }
else{ else{
elevateur.vitesse(-.5); 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);
} }
} }
@ -52,7 +39,6 @@ public class L3 extends Command {
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
elevateur.vitesse(0); elevateur.vitesse(0);
pince.pivote(0);
} }
// Returns true when the command should end. // Returns true when the command should end.

24
src/main/java/frc/robot/commands/L4.java
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@ -5,19 +5,15 @@
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur; 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 */ /* 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 { public class L4 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */ /** Creates a new L2. */
public L4(Elevateur elevateur,Pince pince) { public L4(Elevateur elevateur) {
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; addRequirements(elevateur);
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -28,36 +24,26 @@ public class L4 extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(elevateur.position()>=800 && elevateur.position()<=809){ if(elevateur.position()>=800 && elevateur.position()<=810){
elevateur.vitesse(0); elevateur.vitesse(0);
} }
else if(elevateur.position()>=810){ else if(elevateur.position()>=810){
elevateur.vitesse(0.5); elevateur.vitesse(-0.5);
} }
else{ else{
elevateur.vitesse(.5); 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. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
elevateur.vitesse(0); elevateur.vitesse(0);
pince.pivote(0);
} }
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return false; return elevateur.position()>=800;
} }
} }

50
src/main/java/frc/robot/commands/PinceManuel.java
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@ -1,50 +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.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
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@ -1,47 +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.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
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@ -1,64 +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.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
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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.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;
}
}

52
src/main/java/frc/robot/subsystems/Bougie.java
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@ -1,52 +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(23);
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, 0,0,8,8);
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, 0,0,8,8);
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, 255,0,16,8);
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
}
}

7
src/main/java/frc/robot/subsystems/Elevateur.java
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@ -4,9 +4,7 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkLowLevel.MotorType;
@ -14,10 +12,7 @@ public class Elevateur extends SubsystemBase {
/** Creates a new Elevateur. */ /** Creates a new Elevateur. */
public Elevateur() {} public Elevateur() {}
final SparkMax monte = new SparkMax(22, MotorType.kBrushless); final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(1); final DigitalInput limit2 = new DigitalInput(0);
GenericEntry teb = Shuffleboard.getTab("teb")
.add("elevateur encodeur",position())
.getEntry();
public double position(){ public double position(){
return monte.getEncoder().getPosition(); return monte.getEncoder().getPosition();
} }

26
src/main/java/frc/robot/subsystems/Grimpeur.java Normal file
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@ -0,0 +1,26 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */
public Grimpeur() {}
final Spark grimpeur = new Spark(0);
final DigitalInput limit1 = new DigitalInput(0);
public void grimpe(double vitesse){
grimpeur.set(vitesse);
}
final void stop(){
limit1.get();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

61
src/main/java/frc/robot/subsystems/Pince.java
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@ -1,61 +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.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
}
}