diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 8b348ff..1008d3c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -15,6 +15,11 @@ package frc.robot; * constants are needed, to reduce verbosity. */ public final class Constants { + public static final int MoteurAvantGauche = (0); + public static final int MoteurAvantDroit = (0); + public static final int MoteurArriereGauche = (0); + public static final int MoteurArriereDroit = (0); + public static final int PistonPousserR = 0; public static final int PistonPousserF = 1; public static final int pistonQuiShakef = 0; diff --git a/src/main/java/frc/robot/commands/Activer_poussoir.java b/src/main/java/frc/robot/commands/Activer_poussoir.java index f40f96f..ae6fef0 100644 --- a/src/main/java/frc/robot/commands/Activer_poussoir.java +++ b/src/main/java/frc/robot/commands/Activer_poussoir.java @@ -5,21 +5,22 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.Poussoir; public class Activer_poussoir extends CommandBase { - /** Creates a new Activer_poussoir. */ - public Activer_poussoir() { - // Use addRequirements() here to declare subsystem dependencies. - } + private Poussoir poussoir; + + public Activer_poussoir(Poussoir poussoir) { + this.poussoir = poussoir; + + + addRequirements(poussoir); + } // 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() {} - // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) {} diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java new file mode 100644 index 0000000..156cc09 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -0,0 +1,39 @@ +// 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.motorcontrol.can.WPI_TalonSRX; + +import edu.wpi.first.wpilibj.drive.MecanumDrive; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; + +public class BasePilotable extends SubsystemBase { + + +private WPI_TalonSRX avantGauche = new WPI_TalonSRX(Constants.MoteurAvantGauche); + +private WPI_TalonSRX avantDroit = new WPI_TalonSRX(Constants.MoteurAvantDroit); + +private WPI_TalonSRX arriereGauche = new WPI_TalonSRX(Constants.MoteurArriereGauche); + +private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroit); + +private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit); + +private void drive(double y, double x, double rot){ + mecanum.driveCartesian(y, x, rot, 0); +} + /** Creates a new BasePilotable. */ + public BasePilotable() { + avantDroit.setInverted(true); + arriereDroit.setInverted(true); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} diff --git a/src/main/java/frc/robot/subsystems/Pistonshaker.java b/src/main/java/frc/robot/subsystems/pistonshaker.java similarity index 100% rename from src/main/java/frc/robot/subsystems/Pistonshaker.java rename to src/main/java/frc/robot/subsystems/pistonshaker.java diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json new file mode 100644 index 0000000..d6265f8 --- /dev/null +++ b/vendordeps/Phoenix.json @@ -0,0 +1,257 @@ +{ + "fileName": "Phoenix.json", + "name": "CTRE-Phoenix", + "version": "5.21.4", + "frcYear": 2022, + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json", + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.21.4" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.21.4" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simVictorSPX", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.21.4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.21.4", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.21.4", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.21.4", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.21.4", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.21.4", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.21.4", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.21.4", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.21.4", + "libName": "CTRE_SimTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simVictorSPX", + "version": "5.21.4", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.21.4", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.21.4", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + } + ] +} \ No newline at end of file