From 010d3d001d033e40246e1a5df2346c6d13d14ea1 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 14 Nov 2023 19:10:43 -0500 Subject: [PATCH] mamadou --- src/main/java/frc/robot/RobotContainer.java | 17 +++++++++++++++++ src/main/java/frc/robot/commands/Force1.java | 13 +++++++------ src/main/java/frc/robot/commands/Force2.java | 4 +++- src/main/java/frc/robot/commands/Force3.java | 4 +++- src/main/java/frc/robot/commands/Force4.java | 4 +++- src/main/java/frc/robot/commands/Force5.java | 4 +++- src/main/java/frc/robot/commands/Force6.java | 4 +++- src/main/java/frc/robot/commands/Force7.java | 4 +++- src/main/java/frc/robot/subsystems/Lanceur.java | 14 ++------------ 9 files changed, 44 insertions(+), 24 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0d7a5a5..633ba4f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -3,8 +3,13 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; @@ -13,10 +18,22 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.subsystems.Drive; public class RobotContainer { + ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); + ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard") + .getLayout("limitswitchsgratte", BuiltInLayouts.kList) + .withSize(3, 7); + GenericEntry force1 = forces.add("Force1", 0).getEntry(); + GenericEntry force2 = forces.add("Force2", 0).getEntry(); + GenericEntry force3 = forces.add("Force3", 0).getEntry(); + GenericEntry force4 = forces.add("Force4", 0).getEntry(); + GenericEntry force5 = forces.add("Force5", 0).getEntry(); + GenericEntry force6 = forces.add("Force6", 0).getEntry(); + GenericEntry force7 = forces.add("Force7", 0).getEntry(); CommandXboxController manette = new CommandXboxController(0); Joystick joystick1 = new Joystick(0); Drive drive = new Drive(); public RobotContainer() { + configureBindings(); // drive.setDefaultCommand(new RunCommand(()->{ // drive.drive(manette.getLeftX(), manette.getLeftY(), manette.getRightX()); diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index 3e86349..dc3e8d5 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -4,19 +4,20 @@ package frc.robot.commands; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; + +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force1 extends CommandBase { private Lanceur lanceur; - ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); + GenericEntry force1; + /** Creates a new Force1. */ - public Force1(Lancer lancer) { + public Force1(Lanceur lanceur, GenericEntry force1) { this.lanceur = lanceur; addRequirements(lanceur); - dashboard.addDouble("Force1",this::lanceur); + this.force1 = force1; // Use addRequirements() here to declare subsystem dependencies. } @@ -29,7 +30,7 @@ public class Force1 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force1.getDouble(0)); } diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java index 2a2a890..559cbc3 100644 --- a/src/main/java/frc/robot/commands/Force2.java +++ b/src/main/java/frc/robot/commands/Force2.java @@ -4,16 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force2 extends CommandBase { private Lanceur lanceur; - + GenericEntry force2; /** Creates a new Force1. */ public Force2(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + this.force2 = force2; // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java index a98dcd8..7559371 100644 --- a/src/main/java/frc/robot/commands/Force3.java +++ b/src/main/java/frc/robot/commands/Force3.java @@ -4,16 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force3 extends CommandBase { private Lanceur lanceur; - + GenericEntry force3; /** Creates a new Force1. */ public Force3(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + this.force3 = force3; // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java index 6aba602..27d0ddb 100644 --- a/src/main/java/frc/robot/commands/Force4.java +++ b/src/main/java/frc/robot/commands/Force4.java @@ -4,16 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force4 extends CommandBase { private Lanceur lanceur; - + GenericEntry force4; /** Creates a new Force1. */ public Force4(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + this.force4 = force4; // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java index 66a2a35..59fcc0b 100644 --- a/src/main/java/frc/robot/commands/Force5.java +++ b/src/main/java/frc/robot/commands/Force5.java @@ -4,16 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force5 extends CommandBase { private Lanceur lanceur; - + GenericEntry force5; /** Creates a new Force1. */ public Force5(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + this.force5 = force5; // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java index e5c3fa6..c95116f 100644 --- a/src/main/java/frc/robot/commands/Force6.java +++ b/src/main/java/frc/robot/commands/Force6.java @@ -4,16 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force6 extends CommandBase { private Lanceur lanceur; - + GenericEntry force6; /** Creates a new Force1. */ public Force6(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + this.force6 = force6; // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java index ceb88d9..478d797 100644 --- a/src/main/java/frc/robot/commands/Force7.java +++ b/src/main/java/frc/robot/commands/Force7.java @@ -4,16 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; public class Force7 extends CommandBase { private Lanceur lanceur; - + GenericEntry force7; /** Creates a new Force1. */ public Force7(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + this.force7 = force7; // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java index 4dbac87..f4cc851 100644 --- a/src/main/java/frc/robot/subsystems/Lanceur.java +++ b/src/main/java/frc/robot/subsystems/Lanceur.java @@ -7,24 +7,14 @@ package frc.robot.subsystems; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -import edu.wpi.first.networktables.GenericEntry; -import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; -import frc.robot.commands.Force1; -import frc.robot.commands.Lancer; public class Lanceur extends SubsystemBase { - ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); - ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard") - .getLayout("limitswitchsgratte", BuiltInLayouts.kList) - .withSize(2, 7); + final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); public Lanceur() { - GenericEntry force1 = forces.add("Force1", Force1.lanceur).GetEntry(); + } public void lancer(double vitesse){