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

5 Commits
requin ... 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
14 changed files with 47 additions and 700 deletions
Expand all files Collapse all files

109
simgui-ds.json
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@@ -1,109 +0,0 @@
{
"FMS": {
"window": {
"visible": false
}
},
"Joysticks": {
"window": {
"visible": false
}
},
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
],
"robotJoysticks": [
{},
{
"guid": "78696e70757401000000000000000000",
"useGamepad": true
}
]
}

57
src/main/java/frc/robot/RobotContainer.java
View File

@@ -4,46 +4,31 @@
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.BalayeuseAlgue;
import frc.robot.commands.BalayeuseBas;
import frc.robot.commands.BalayeuseCoral;
import frc.robot.commands.BalayeuseHaut;
import frc.robot.commands.L1Requin;
import frc.robot.commands.aspire;
import frc.robot.commands.exspire;
import frc.robot.commands.requin_manuel;
import frc.robot.subsystems.Requin;
import frc.robot.subsystems.Bougie;
import frc.robot.commands.aspire;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
Requin requin = new Requin();
Bougie bougie = new Bougie();
aspire aspire = new aspire(requin);
requin_manuel requin_manuel = new requin_manuel(requin);
public RobotContainer() {
configureBindings();
requin.setDefaultCommand(new RunCommand(()->{
requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
}, requin));
}
private void configureBindings() {
manette2.a().whileTrue(new aspire(requin));
manette2.rightTrigger().whileTrue(new exspire(requin));
manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
manette2.y().whileTrue(new L1Requin(requin,bougie));
manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
}
private final CommandXboxController manette1 = new CommandXboxController(0);
private final CommandXboxController manette2 = new CommandXboxController(0);
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
public RobotContainer() {
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("");
}
}

63
src/main/java/frc/robot/commands/BalayeuseAlgue.java
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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.Bougie;
import frc.robot.subsystems.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class BalayeuseAlgue extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseAlgue(Requin requin, Bougie bougie) {
this.requin = requin;
this.bougie =bougie;
addRequirements(requin,bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()>=500 && requin.encodeur()<=510)
{
requin.rotationer(0);
if(requin.amp()> 60){
requin.balaye(0);
bougie.Vert();
}
else
{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=510){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

40
src/main/java/frc/robot/commands/BalayeuseBas.java
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@@ -1,40 +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.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class BalayeuseBas extends Command {
private Requin requin;
/** Creates a new Balayeuse. */
public BalayeuseBas(Requin requin) {
this.requin = requin;
addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.rotationer(-0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

67
src/main/java/frc/robot/commands/BalayeuseCoral.java
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@@ -1,67 +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.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class BalayeuseCoral extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseCoral(Requin requin, Bougie bougie) {
this.requin = requin;
this.bougie = bougie;
addRequirements(requin,bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()>=100 && requin.encodeur()<=110){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(0);
bougie.Vert();
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(0.5);
}
}
else{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=110){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

47
src/main/java/frc/robot/commands/BalayeuseHaut.java
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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.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class BalayeuseHaut extends Command {
private Requin requin;
/** Creates a new Balayeuse. */
public BalayeuseHaut(Requin requin) {
this.requin = requin;
addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.enHaut()==true){
requin.rotationer(0);
requin.reset();
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/ExpireAlgue.java
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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.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class ExpireAlgue extends Command {
private Requin requin;
/** Creates a new ExpireAlgue. */
public ExpireAlgue(Requin requin) {
this.requin = requin;
addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.balaye(0.5);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

65
src/main/java/frc/robot/commands/L1Requin.java
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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.Bougie;
import frc.robot.subsystems.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class L1Requin extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public L1Requin(Requin requin,Bougie bougie) {
this.requin = requin;
this.bougie = bougie;
addRequirements(requin,bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()>=800 && requin.encodeur()<=810){
requin.rotationer(0);
if(requin.amp()>8){
requin.balaye(-0.5);
}
else{
requin.balaye(0);
bougie.Rouge();
}
}
else if(requin.encodeur()>=810){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/aspire.java
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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.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class aspire extends Command {
/** Creates a new aspire. */
private Requin requin;
public aspire(Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.requin = requin;
addRequirements(requin);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.balaye(0.3);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

41
src/main/java/frc/robot/commands/exspire.java
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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.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class exspire extends Command {
/** Creates a new aspire. */
private Requin requin;
public exspire(Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.requin = requin;
addRequirements(requin);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.balaye(-0.3);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.balaye(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

49
src/main/java/frc/robot/commands/requin_manuel.java
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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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Requin;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class requin_manuel extends Command {
/** Creates a new requin_manuel. */
private Requin requin;
private DoubleSupplier x;
public requin_manuel(Requin requin) {
// Use addRequirements() here to declare subsystem dependencies.
this.requin = requin;
addRequirements(requin);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(x.getAsDouble());
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
requin.rotationer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

53
src/main/java/frc/robot/subsystems/Bougie.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.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
}
}

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

@@ -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
}
}

48
src/main/java/frc/robot/subsystems/Requin.java
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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.subsystems;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Requin extends SubsystemBase {
/** Creates a new Requin. */
ShuffleboardTab teb = Shuffleboard.getTab("teb");
public Requin() {
teb.addBoolean("limit requin", this::enHaut);
}
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(1);
public void balaye(double vitesse){
balaye.set(vitesse);
}
public void rotationer(double vitesse){
rotatione.set(vitesse);
}
public boolean enHaut(){
return limit3.get();
}
public double encodeur(){
return rotatione.getEncoder().getPosition();
}
public void reset(){
rotatione.getEncoder().setPosition(0);
}
public double amp(){
return balaye.getOutputCurrent();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}