26 Commits

Author SHA1 Message Date
63e476c64e Grimpeur, Fonctionne 2025-02-26 19:09:33 -05:00
9b86a0b975 limit avec grimpeur manuel 2025-02-26 17:23:27 -05:00
77240d255e grimpeur manuel 2025-02-26 16:58:50 -05:00
7ffeb78c35 grimpeur manuel 2025-02-26 16:57:51 -05:00
5b80c53963 grimpeur manuel 2025-02-26 16:56:38 -05:00
476df088ea grimpeur manuel 2025-02-26 16:54:56 -05:00
cfc6ba9479 grimpeur manuel 2025-02-26 16:53:12 -05:00
583413ec5f id 2025-02-22 11:44:53 -05:00
eb141ac2ba leds 2025-02-17 18:45:04 -05:00
3669e079bd command -> commands 2025-02-06 17:49:41 -05:00
0f81dd39e9 ils ont amener le deux par quatre 2025-02-03 18:52:32 -05:00
a984625e17 marche 2025-02-03 18:48:23 -05:00
a54ebb16e9 id 2025-02-03 18:39:16 -05:00
6437b9f152 id 2025-02-03 18:35:44 -05:00
7be1b69ece id 2025-02-03 18:31:31 -05:00
d44aea512d id 2025-02-03 18:27:30 -05:00
8a7f10ec64 id 2025-02-03 18:24:08 -05:00
345eb83d39 id 2025-02-03 18:23:17 -05:00
f01f327c81 id 2025-02-03 18:22:01 -05:00
0c7cfc9d4c id 2025-02-03 18:20:20 -05:00
831b9fec75 Touche grinpeur 2025-01-29 19:51:59 -05:00
982db16833 grimpeMieux 2025-01-28 19:22:43 -05:00
12b5e6954e 2025-01-28 18:31:02 -05:00
7e40328af4 il grimpe mieux 2025-01-28 17:51:17 -05:00
9653ca7205 grimpe 2025-01-27 19:12:49 -05:00
1583a95f52 il grimpe 2025-01-27 18:40:58 -05:00
24 changed files with 133 additions and 869 deletions

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@ -1 +0,0 @@
{}

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@ -1,9 +1,4 @@
{
"Joysticks": {
"window": {
"visible": false
}
},
"System Joysticks": {
"window": {
"enabled": false

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@ -4,74 +4,39 @@
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.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.commands.GrimperHaut;
import frc.robot.commands.GrimpeurBas;
import frc.robot.commands.GrimpeurManuel;
import frc.robot.commands.ResetGrimpeur;
import frc.robot.subsystems.Bougie;
public class RobotContainer {
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();
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);
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();
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
}, pince));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
}
private void configureBindings() {
// manette1
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
manette1.x().whileTrue(new L3(elevateur, pince));
manette1.y().whileTrue(new L4(elevateur, pince));
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
//manette2
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.a().whileTrue(new CorailAspir(pince));
manette2.b().whileTrue(new CoralExpire(pince, bougie));
manette2.povLeft().whileTrue(new Algue1Test(pince));
manette2.povRight().whileTrue(new Algue2Test(pince));
manette2.x().whileTrue(new CorailTest(pince));
manette2.start().whileTrue(new reset(elevateur));
manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
}
public Command getAutonomousCommand() {

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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;
}
}

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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;
}
}

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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;
}
}

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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;
}
}

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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;
}
}

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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.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class Depart extends Command {
private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */
public Depart(Elevateur elevateur, Pince pince) {
this.pince = pince;
this.elevateur = elevateur;
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.limit2()==true){
elevateur.vitesse(0);
elevateur.reset();
}
else{
elevateur.vitesse(.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.limit2()==true;
}
}

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@ -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()/7);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -6,17 +6,17 @@ package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Pince;
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 AlgueExpire extends Command {
private Pince pince;
public class GrimperHaut extends Command {
private Grimpeur grimpeur;
private Bougie bougie;
/** Creates a new CoralAlgue. */
public AlgueExpire(Pince pince,Bougie bougie) {
this.pince = pince;
/** Creates a new Grimper. */
public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
this.grimpeur = grimpeur;
this.bougie = bougie;
addRequirements(pince,bougie);
addRequirements(grimpeur,bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -27,25 +27,30 @@ public class AlgueExpire extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.emperagealgue()>60){
pince.aspirealgue(-0.5);
if(grimpeur.stop()==true){
grimpeur.grimpe(0);
grimpeur.reset();
bougie.RainBow();
}
else{
pince.aspirealgue(-0.5);
bougie.Jaune();
grimpeur.grimpe(0.5);
bougie.RainBowStop();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.aspirealgue(0);
grimpeur.grimpe(0);
if(grimpeur.stop()){
bougie.RainBow();
}
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
return grimpeur.stop()==true;
}
}

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@ -5,15 +5,15 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
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 DepartPince extends Command {
private Pince pince;
/** Creates a new DepartPince. */
public DepartPince(Pince pince) {
this.pince = pince;
addRequirements(pince);
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.
}
@ -24,19 +24,20 @@ public class DepartPince extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.position()==true){
pince.pivote(0);
pince.reset();
if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
grimpeur.grimpe(0);
}
else{
pince.pivote(.2);
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) {
pince.pivote(0);
grimpeur.grimpe(0);
}
// Returns true when the command should end.

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@ -3,21 +3,21 @@
// 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;
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 PinceManuel extends Command {
private Pince pince;
public class GrimpeurManuel extends Command {
private Grimpeur grimpeur;
private DoubleSupplier x;
/** Creates a new PinceManuel. */
public PinceManuel(Pince pince, DoubleSupplier x) {
this.pince = pince;
/** Creates a new GrimpeurManuel. */
public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
this.grimpeur = grimpeur;
this.x = x;
//this.doubleSupplier = doubleSupplier;
addRequirements(pince);
addRequirements(grimpeur);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -28,18 +28,19 @@ public class PinceManuel extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.position()){
pince.pivote(0);
if(grimpeur.stop()){
grimpeur.grimpe(0);
}
else{
pince.pivote(x.getAsDouble());
grimpeur.grimpe(x.getAsDouble());
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.pivote(0);
grimpeur.grimpe(0);
}
// Returns true when the command should end.

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@ -1,65 +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 L2 extends Command {
private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()>=500 && elevateur.position()<=510){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
elevateur.vitesse(0.3);
}
else{
elevateur.vitesse(.3);
}
if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=510){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -1,63 +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 L3 extends Command {
private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()>=700 && elevateur.position()<=710){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
elevateur.vitesse(0.5);
}
else{
elevateur.vitesse(-.5);
}
if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=710){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

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@ -1,63 +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 L4 extends Command {
private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */
public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()>=800 && elevateur.position()<=809){
elevateur.vitesse(0);
}
else if(elevateur.position()>=810){
elevateur.vitesse(0.5);
}
else{
elevateur.vitesse(.5);
}
if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=810){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
pince.pivote(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

View File

@ -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;
}
}

View File

@ -5,15 +5,15 @@
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 Algue1Test extends Command {
private Pince pince;
/** Creates a new AlgueTest. */
public Algue1Test(Pince pince) {
this.pince = pince;
addRequirements(pince);
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.
}
@ -24,13 +24,13 @@ public class Algue1Test extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
pince.algue1Test(0.2);
bougie.RainBow();
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
pince.algue1Test(0);
bougie.RainBowStop();
}
// Returns true when the command should end.

View File

@ -5,18 +5,16 @@
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 reset extends Command {
/** Creates a new reset. */
private Elevateur elevateur;
public reset(Elevateur 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.
this.elevateur = elevateur;
addRequirements(elevateur);
}
// Called when the command is initially scheduled.
@ -26,7 +24,7 @@ public class reset extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
elevateur.reset();
grimpeur.reset();
}
// Called once the command ends or is interrupted.

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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;
}
}

View File

@ -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(23);
CANdle candle = new CANdle(5);
CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
/** Creates a new Bougie. */
@ -20,28 +20,13 @@ public class Bougie extends SubsystemBase {
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);
candle.setLEDs(255, 0, 0);
}
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);
candle.setLEDs(0, 255, 0);
}
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);
candle.setLEDs(0, 0, 255);
}
public void RainBow(){candle.animate(rainbowAnim);}
public void RainBowStop(){candle.animate(null);}
@ -50,3 +35,4 @@ public class Bougie extends SubsystemBase {
// This method will be called once per scheduler run
}
}

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@ -1,37 +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.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
public class Elevateur extends SubsystemBase {
/** Creates a new Elevateur. */
public Elevateur() {}
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(1);
GenericEntry teb = Shuffleboard.getTab("teb")
.add("elevateur encodeur",position())
.getEntry();
public double position(){
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
monte.set(vitesse);
}
public boolean limit2(){
return limit2.get();
}
public void reset(){
monte.getEncoder().setPosition(0);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

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@ -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.subsystems;
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 Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */
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);
}
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
}
}

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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
}
}