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This commit is contained in:
Olivier Dubois 2023-11-14 19:10:43 -05:00
parent 25866d1199
commit 010d3d001d
9 changed files with 44 additions and 24 deletions
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17
src/main/java/frc/robot/RobotContainer.java
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@ -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());

13
src/main/java/frc/robot/commands/Force1.java
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@ -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));
}

4
src/main/java/frc/robot/commands/Force2.java
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@ -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.
}

4
src/main/java/frc/robot/commands/Force3.java
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@ -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.
}

4
src/main/java/frc/robot/commands/Force4.java
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@ -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.
}

4
src/main/java/frc/robot/commands/Force5.java
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@ -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.
}

4
src/main/java/frc/robot/commands/Force6.java
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@ -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.
}

4
src/main/java/frc/robot/commands/Force7.java
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@ -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.
}

14
src/main/java/frc/robot/subsystems/Lanceur.java
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@ -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){