78 lines
2.7 KiB
Java
78 lines
2.7 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import edu.wpi.first.networktables.DoubleSubscriber;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystems.Elevateur;
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import frc.robot.subsystems.Pince;
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/* 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 */
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public class StationPince extends Command {
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private Pince pince;
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private Elevateur elevateur;
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NetworkTableInstance networktable = NetworkTableInstance.getDefault();
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NetworkTable tabelevateur = networktable.getTable("tabelevateur");
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private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
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private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
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private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
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private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
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/** Creates a new L2Pince. */
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public StationPince(Pince pince,Elevateur elevateur) {
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this.elevateur = elevateur;
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this.pince = pince;
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addRequirements(pince,elevateur);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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double encodeurBase = encodeur1.get();
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double encodeurhaute = encodeur2.get();
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double encodeurbasp = encodeur3.get();
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double encodeurhautp = encodeur4.get();
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pince.aspirecoral(0.5);
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if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
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pince.pivote(0);
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}
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else if(pince.encodeurpivot()>=encodeurBase){
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pince.pivote(0.2);
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}
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else{
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pince.pivote(-0.2);
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}
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if(elevateur.position()>=400 && elevateur.position()<=410){
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elevateur.vitesse(0);
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}
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else if(elevateur.position()>=410){
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elevateur.vitesse(0.3);
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}
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else{
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elevateur.vitesse(-.3);
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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pince.pivote(0);
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pince.aspirecoral(0);
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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