From 6c28e3f37353d0c677eed8b608225c38050226be Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 6 Nov 2023 19:51:10 -0500 Subject: [PATCH 01/13] Debut de Dashboard avec un erreur :( --- src/main/java/frc/robot/commands/Force1.java | 5 ++++- .../java/frc/robot/subsystems/Lanceur.java | 20 +++++++++++++++---- 2 files changed, 20 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index 6878de5..3e86349 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -4,16 +4,19 @@ package frc.robot.commands; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; 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"); /** Creates a new Force1. */ public Force1(Lancer lancer) { this.lanceur = lanceur; addRequirements(lanceur); + dashboard.addDouble("Force1",this::lanceur); // 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 d8d4344..8e5be7e 100644 --- a/src/main/java/frc/robot/subsystems/Lanceur.java +++ b/src/main/java/frc/robot/subsystems/Lanceur.java @@ -6,14 +6,26 @@ 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 { - - final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); - - public Lanceur() {} + 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.addDouble("Force1", Force1.lanceur).GetEntry(); + } public void lancer(double vitesse){ lanceur.set(vitesse); From 25866d11992f34c8a5c1dd8cf5d2b0a9f7c800ea Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 6 Nov 2023 19:56:24 -0500 Subject: [PATCH 02/13] addDouble a add --- src/main/java/frc/robot/subsystems/Lanceur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java index 8e5be7e..4dbac87 100644 --- a/src/main/java/frc/robot/subsystems/Lanceur.java +++ b/src/main/java/frc/robot/subsystems/Lanceur.java @@ -24,7 +24,7 @@ public class Lanceur extends SubsystemBase { .withSize(2, 7); final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); public Lanceur() { - GenericEntry force1 = forces.addDouble("Force1", Force1.lanceur).GetEntry(); + GenericEntry force1 = forces.add("Force1", Force1.lanceur).GetEntry(); } public void lancer(double vitesse){ From 010d3d001d033e40246e1a5df2346c6d13d14ea1 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 14 Nov 2023 19:10:43 -0500 Subject: [PATCH 03/13] 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){ From 5d69880fcc36d70813d2557c5f266638b1c49045 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 15 Nov 2023 18:03:37 -0500 Subject: [PATCH 04/13] forces --- src/main/java/frc/robot/commands/Force1.java | 1 - src/main/java/frc/robot/commands/Force2.java | 5 +++-- 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 ++-- 7 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index dc3e8d5..8519547 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -4,7 +4,6 @@ package frc.robot.commands; - import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java index 559cbc3..d0e466b 100644 --- a/src/main/java/frc/robot/commands/Force2.java +++ b/src/main/java/frc/robot/commands/Force2.java @@ -11,8 +11,9 @@ import frc.robot.subsystems.Lanceur; public class Force2 extends CommandBase { private Lanceur lanceur; GenericEntry force2; + /** Creates a new Force1. */ - public Force2(Lancer lancer) { + public Force2(Lanceur lanceur, GenericEntry force2) { this.lanceur = lanceur; addRequirements(lanceur); this.force2 = force2; @@ -28,7 +29,7 @@ public class Force2 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force2.getDouble(0)); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java index 7559371..743fb17 100644 --- a/src/main/java/frc/robot/commands/Force3.java +++ b/src/main/java/frc/robot/commands/Force3.java @@ -12,7 +12,7 @@ public class Force3 extends CommandBase { private Lanceur lanceur; GenericEntry force3; /** Creates a new Force1. */ - public Force3(Lancer lancer) { + public Force3(Lanceur lanceur,GenericEntry force3) { this.lanceur = lanceur; addRequirements(lanceur); this.force3 = force3; @@ -28,7 +28,7 @@ public class Force3 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force3.getDouble(0)); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java index 27d0ddb..f72178f 100644 --- a/src/main/java/frc/robot/commands/Force4.java +++ b/src/main/java/frc/robot/commands/Force4.java @@ -12,7 +12,7 @@ public class Force4 extends CommandBase { private Lanceur lanceur; GenericEntry force4; /** Creates a new Force1. */ - public Force4(Lancer lancer) { + public Force4(Lanceur lanceur,GenericEntry force4) { this.lanceur = lanceur; addRequirements(lanceur); this.force4 = force4; @@ -28,7 +28,7 @@ public class Force4 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force4.getDouble(0)); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java index 59fcc0b..16e9e3b 100644 --- a/src/main/java/frc/robot/commands/Force5.java +++ b/src/main/java/frc/robot/commands/Force5.java @@ -12,7 +12,7 @@ public class Force5 extends CommandBase { private Lanceur lanceur; GenericEntry force5; /** Creates a new Force1. */ - public Force5(Lancer lancer) { + public Force5(Lanceur lanceur,GenericEntry force5) { this.lanceur = lanceur; addRequirements(lanceur); this.force5 = force5; @@ -28,7 +28,7 @@ public class Force5 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force5.getDouble(0)); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java index c95116f..a257c49 100644 --- a/src/main/java/frc/robot/commands/Force6.java +++ b/src/main/java/frc/robot/commands/Force6.java @@ -12,7 +12,7 @@ public class Force6 extends CommandBase { private Lanceur lanceur; GenericEntry force6; /** Creates a new Force1. */ - public Force6(Lancer lancer) { + public Force6(Lanceur lanceur, GenericEntry force6) { this.lanceur = lanceur; addRequirements(lanceur); this.force6 = force6; @@ -28,7 +28,7 @@ public class Force6 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force6.getDouble(0)); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java index 478d797..b9bb0a7 100644 --- a/src/main/java/frc/robot/commands/Force7.java +++ b/src/main/java/frc/robot/commands/Force7.java @@ -12,7 +12,7 @@ public class Force7 extends CommandBase { private Lanceur lanceur; GenericEntry force7; /** Creates a new Force1. */ - public Force7(Lancer lancer) { + public Force7(Lanceur lanceur,GenericEntry force7) { this.lanceur = lanceur; addRequirements(lanceur); this.force7 = force7; @@ -28,7 +28,7 @@ public class Force7 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + lanceur.lancer(force7.getDouble(0)); } // Called once the command ends or is interrupted. From 9e50ac65b300031ae6076f71117b7b6e1d452f92 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Nov 2023 18:19:27 -0500 Subject: [PATCH 05/13] yrugjh --- src/main/java/frc/robot/RobotContainer.java | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 18b8937..b36606d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -11,9 +11,15 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import frc.robot.commands.Force1; +import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Drive; +import frc.robot.subsystems.Lanceur; public class RobotContainer { + Lanceur lanceur = new Lanceur(); + Accumulateur accumulateur = new Accumulateur(); + Force1 force1 = new Force1(); CommandXboxController manette = new CommandXboxController(0); Joystick joystick1 = new Joystick(0); Drive drive = new Drive(); @@ -28,7 +34,12 @@ public class RobotContainer { } private void configureBindings() { - JoystickButton button =new JoystickButton(joystick1, 1); + JoystickButton button7 = new JoystickButton(joystick1, 7); + JoystickButton button8 = new JoystickButton(joystick1, 8); + JoystickButton button9 = new JoystickButton(joystick1, 9); + JoystickButton button10 = new JoystickButton(joystick1, 10); + JoystickButton button11 = new JoystickButton(joystick1, 11); + JoystickButton button12 = new JoystickButton(joystick1, 12); } From 977cbef11e555931bbc5ac24a4e7b2d0f1a12fe7 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Nov 2023 18:54:59 -0500 Subject: [PATCH 06/13] rtdytyjhk --- src/main/java/frc/robot/RobotContainer.java | 3 -- src/main/java/frc/robot/commands/Avancer.java | 36 +++++++++++++++++++ src/main/java/frc/robot/commands/Force1.java | 15 ++++++-- src/main/java/frc/robot/commands/Force2.java | 14 ++++++-- src/main/java/frc/robot/commands/Force3.java | 9 +++-- src/main/java/frc/robot/commands/Force4.java | 2 +- src/main/java/frc/robot/commands/Force5.java | 2 +- src/main/java/frc/robot/commands/Force6.java | 2 +- src/main/java/frc/robot/commands/Force7.java | 2 +- src/main/java/frc/robot/subsystems/Drive.java | 4 ++- 10 files changed, 74 insertions(+), 15 deletions(-) create mode 100644 src/main/java/frc/robot/commands/Avancer.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bc9b7f1..5fcb0a5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,18 +5,15 @@ 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; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import frc.robot.commands.Force1; import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Drive; import frc.robot.subsystems.Lanceur; diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java new file mode 100644 index 0000000..1e61eca --- /dev/null +++ b/src/main/java/frc/robot/commands/Avancer.java @@ -0,0 +1,36 @@ +// 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.CommandBase; +import frc.robot.subsystems.Drive; + +public class Avancer extends CommandBase { + private Drive drive; + /** Creates a new Avancer. */ + public Avancer(Drive drive) { + // 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() {} + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index dc3e8d5..09b74c1 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -6,16 +6,20 @@ package frc.robot.commands; import edu.wpi.first.networktables.GenericEntry; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Lanceur; public class Force1 extends CommandBase { private Lanceur lanceur; + private Accumulateur accumulateur; GenericEntry force1; /** Creates a new Force1. */ - public Force1(Lanceur lanceur, GenericEntry force1) { + public Force1(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force1) { this.lanceur = lanceur; + this.accumulateur = accumulateur; addRequirements(lanceur); this.force1 = force1; // Use addRequirements() here to declare subsystem dependencies. @@ -31,8 +35,15 @@ public class Force1 extends CommandBase { @Override public void execute() { lanceur.lancer(force1.getDouble(0)); - + double vitesse = SmartDashboard.getNumber("Force Lanceur", 100); + if (lanceur.vitesse() > vitesse ){ + accumulateur.tourneavant(); + accumulateur.tournearriere(); + } else { + accumulateur.stop(); + } } + // Called once the command ends or is interrupted. @Override diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java index d359ed5..51a8f33 100644 --- a/src/main/java/frc/robot/commands/Force2.java +++ b/src/main/java/frc/robot/commands/Force2.java @@ -4,15 +4,19 @@ package frc.robot.commands; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Lanceur; public class Force2 extends CommandBase { private Lanceur lanceur; + private Accumulateur accumulateur; /** Creates a new Force1. */ - public Force2(Lanceur lancer) { + public Force2(Lanceur lancer,Accumulateur accumulateur) { this.lanceur = lanceur; + this.accumulateur = accumulateur; addRequirements(lanceur); // Use addRequirements() here to declare subsystem dependencies. } @@ -26,7 +30,13 @@ public class Force2 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(500); + double vitesse = SmartDashboard.getNumber("Force Lanceur", 200); + if (lanceur.vitesse() > vitesse ){ + accumulateur.tourneavant(); + accumulateur.tournearriere(); + } else { + accumulateur.stop(); + } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java index 71c9e95..574cda2 100644 --- a/src/main/java/frc/robot/commands/Force3.java +++ b/src/main/java/frc/robot/commands/Force3.java @@ -44,9 +44,12 @@ public class Force3 extends CommandBase { public void execute() { double vitesse = SmartDashboard.getNumber("Force Lanceur", 300); - lanceur.lancer(200); - lanceur.lancer(force3.getDouble(0));} - public void end(boolean interrupted) { + if (lanceur.vitesse() > vitesse ){ + accumulateur.tourneavant(); + accumulateur.tournearriere(); + } else { + accumulateur.stop(); + } } @Override public boolean isFinished() { diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java index 498cc4b..17329d7 100644 --- a/src/main/java/frc/robot/commands/Force4.java +++ b/src/main/java/frc/robot/commands/Force4.java @@ -38,7 +38,7 @@ public class Force4 extends CommandBase { @Override public void execute() { double vitesse = SmartDashboard.getNumber("Force Lanceur", 400); - lanceur.lancer(200); + lanceur.lancer(400); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java index 669dae0..d085a11 100644 --- a/src/main/java/frc/robot/commands/Force5.java +++ b/src/main/java/frc/robot/commands/Force5.java @@ -38,7 +38,7 @@ public class Force5 extends CommandBase { @Override public void execute() { double vitesse = SmartDashboard.getNumber("Force Lanceur", 500); - lanceur.lancer(200); + lanceur.lancer(500); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java index 2cbf863..6fc9fe3 100644 --- a/src/main/java/frc/robot/commands/Force6.java +++ b/src/main/java/frc/robot/commands/Force6.java @@ -39,7 +39,7 @@ public class Force6 extends CommandBase { @Override public void execute() { double vitesse = SmartDashboard.getNumber("Force Lanceur", 600); - lanceur.lancer(200); + lanceur.lancer(600); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java index 6558569..24f4e52 100644 --- a/src/main/java/frc/robot/commands/Force7.java +++ b/src/main/java/frc/robot/commands/Force7.java @@ -38,7 +38,7 @@ public class Force7 extends CommandBase { @Override public void execute() { double vitesse = SmartDashboard.getNumber("Force Lanceur", 700); - lanceur.lancer(200); + lanceur.lancer(700); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java index 637b22c..049ee3f 100644 --- a/src/main/java/frc/robot/subsystems/Drive.java +++ b/src/main/java/frc/robot/subsystems/Drive.java @@ -30,7 +30,9 @@ public class Drive extends SubsystemBase { e.printStackTrace(); } } - + public void reset(){ + + } @Override public void periodic() { // This method will be called once per scheduler run From df71095e4d8acb122d61a443de1415e027b503dc Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Nov 2023 19:15:42 -0500 Subject: [PATCH 07/13] tuyhkj --- src/main/java/frc/robot/commands/Avancer.java | 6 ++++-- src/main/java/frc/robot/commands/Force1.java | 3 ++- src/main/java/frc/robot/commands/Force2.java | 3 ++- src/main/java/frc/robot/commands/Force3.java | 3 ++- src/main/java/frc/robot/commands/Force4.java | 2 +- src/main/java/frc/robot/commands/Force5.java | 2 +- src/main/java/frc/robot/commands/Force6.java | 2 +- src/main/java/frc/robot/commands/Force7.java | 2 +- src/main/java/frc/robot/subsystems/Drive.java | 1 - 9 files changed, 14 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java index 1e61eca..3ad931a 100644 --- a/src/main/java/frc/robot/commands/Avancer.java +++ b/src/main/java/frc/robot/commands/Avancer.java @@ -17,12 +17,14 @@ public class Avancer extends CommandBase { // 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() {} + public void execute() { + drive.drive(0.5, 0.2, 0); + } // Called once the command ends or is interrupted. @Override diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index 09b74c1..ca5b1cb 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -35,7 +35,8 @@ public class Force1 extends CommandBase { @Override public void execute() { lanceur.lancer(force1.getDouble(0)); - double vitesse = SmartDashboard.getNumber("Force Lanceur", 100); + double vitesse = (600); + lanceur.lancer(100); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java index 51a8f33..918cd0f 100644 --- a/src/main/java/frc/robot/commands/Force2.java +++ b/src/main/java/frc/robot/commands/Force2.java @@ -30,7 +30,8 @@ public class Force2 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double vitesse = SmartDashboard.getNumber("Force Lanceur", 200); + double vitesse = (200); + lanceur.lancer(200); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java index 574cda2..2c3b1a5 100644 --- a/src/main/java/frc/robot/commands/Force3.java +++ b/src/main/java/frc/robot/commands/Force3.java @@ -43,7 +43,8 @@ public class Force3 extends CommandBase { @Override public void execute() { - double vitesse = SmartDashboard.getNumber("Force Lanceur", 300); + double vitesse = (300); + lanceur.lancer(300); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java index 17329d7..d766b9c 100644 --- a/src/main/java/frc/robot/commands/Force4.java +++ b/src/main/java/frc/robot/commands/Force4.java @@ -37,7 +37,7 @@ public class Force4 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double vitesse = SmartDashboard.getNumber("Force Lanceur", 400); + double vitesse = (400); lanceur.lancer(400); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java index d085a11..9dfa156 100644 --- a/src/main/java/frc/robot/commands/Force5.java +++ b/src/main/java/frc/robot/commands/Force5.java @@ -37,7 +37,7 @@ public class Force5 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double vitesse = SmartDashboard.getNumber("Force Lanceur", 500); + double vitesse = (500); lanceur.lancer(500); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java index 6fc9fe3..97cc71f 100644 --- a/src/main/java/frc/robot/commands/Force6.java +++ b/src/main/java/frc/robot/commands/Force6.java @@ -38,7 +38,7 @@ public class Force6 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double vitesse = SmartDashboard.getNumber("Force Lanceur", 600); + double vitesse = (600); lanceur.lancer(600); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java index 24f4e52..78af2af 100644 --- a/src/main/java/frc/robot/commands/Force7.java +++ b/src/main/java/frc/robot/commands/Force7.java @@ -37,7 +37,7 @@ public class Force7 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double vitesse = SmartDashboard.getNumber("Force Lanceur", 700); + double vitesse = (700); lanceur.lancer(700); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java index 049ee3f..091680b 100644 --- a/src/main/java/frc/robot/subsystems/Drive.java +++ b/src/main/java/frc/robot/subsystems/Drive.java @@ -31,7 +31,6 @@ public class Drive extends SubsystemBase { } } public void reset(){ - } @Override public void periodic() { From 8bee4280be8ea3e3f053a917effa9ad903bd7169 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 15 Nov 2023 19:36:19 -0500 Subject: [PATCH 08/13] dashboard --- src/main/java/frc/robot/commands/Force1.java | 8 +++----- src/main/java/frc/robot/commands/Force2.java | 11 ++++++----- src/main/java/frc/robot/commands/Force3.java | 16 ++++++---------- src/main/java/frc/robot/commands/Force4.java | 15 ++++++--------- src/main/java/frc/robot/commands/Force5.java | 15 ++++++--------- src/main/java/frc/robot/commands/Force6.java | 17 ++++++----------- src/main/java/frc/robot/commands/Force7.java | 15 +++++---------- .../java/frc/robot/subsystems/Accumulateur.java | 2 +- 8 files changed, 39 insertions(+), 60 deletions(-) diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index ca5b1cb..8d4e567 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -6,7 +6,6 @@ package frc.robot.commands; import edu.wpi.first.networktables.GenericEntry; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Lanceur; @@ -20,7 +19,7 @@ public class Force1 extends CommandBase { public Force1(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force1) { this.lanceur = lanceur; this.accumulateur = accumulateur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); this.force1 = force1; // Use addRequirements() here to declare subsystem dependencies. } @@ -34,9 +33,8 @@ public class Force1 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - lanceur.lancer(force1.getDouble(0)); - double vitesse = (600); - lanceur.lancer(100); + lanceur.lancer(force1.getDouble(100)); + double vitesse = (100); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java index 918cd0f..ea8564c 100644 --- a/src/main/java/frc/robot/commands/Force2.java +++ b/src/main/java/frc/robot/commands/Force2.java @@ -4,7 +4,7 @@ package frc.robot.commands; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Lanceur; @@ -12,12 +12,13 @@ import frc.robot.subsystems.Lanceur; public class Force2 extends CommandBase { private Lanceur lanceur; private Accumulateur accumulateur; - + GenericEntry force2; /** Creates a new Force1. */ - public Force2(Lanceur lancer,Accumulateur accumulateur) { + public Force2(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force2) { this.lanceur = lanceur; this.accumulateur = accumulateur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); + this.force2 = force2; // Use addRequirements() here to declare subsystem dependencies. } @@ -31,7 +32,7 @@ public class Force2 extends CommandBase { @Override public void execute() { double vitesse = (200); - lanceur.lancer(200); + lanceur.lancer(force2.getDouble(200)); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java index 2c3b1a5..4c1e363 100644 --- a/src/main/java/frc/robot/commands/Force3.java +++ b/src/main/java/frc/robot/commands/Force3.java @@ -8,7 +8,7 @@ package frc.robot.commands; import frc.robot.subsystems.Accumulateur; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -18,18 +18,14 @@ public class Force3 extends CommandBase { private Lanceur lanceur; private Accumulateur accumulateur; - - public void Lancer(Lanceur lanceur) { - this.lanceur = lanceur; - this.accumulateur = accumulateur; - addRequirements(lanceur , accumulateur);} - GenericEntry force3; + /** Creates a new Force1. */ - public Force3(Lanceur lanceur,GenericEntry force3) { + public Force3(Lanceur lanceur,GenericEntry force3, Accumulateur accumulateur) { this.lanceur = lanceur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); this.force3 = force3; + this.accumulateur = accumulateur; // Use addRequirements() here to declare subsystem dependencies. } @@ -44,7 +40,7 @@ public class Force3 extends CommandBase { public void execute() { double vitesse = (300); - lanceur.lancer(300); + lanceur.lancer(force3.getDouble(300)); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java index d766b9c..8658cfc 100644 --- a/src/main/java/frc/robot/commands/Force4.java +++ b/src/main/java/frc/robot/commands/Force4.java @@ -4,7 +4,7 @@ package frc.robot.commands; import frc.robot.subsystems.Accumulateur; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -14,17 +14,14 @@ public class Force4 extends CommandBase { private Lanceur lanceur; private Accumulateur accumulateur; - - public void Lancer(Lanceur lanceur) { - this.lanceur = lanceur; - this.accumulateur = accumulateur; - addRequirements(lanceur , accumulateur);} GenericEntry force4; + /** Creates a new Force1. */ - public Force4(Lanceur lanceur,GenericEntry force4) { + public Force4(Lanceur lanceur,GenericEntry force4, Accumulateur accumulateur) { this.lanceur = lanceur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); this.force4 = force4; + this.accumulateur = accumulateur; // Use addRequirements() here to declare subsystem dependencies. } @@ -38,7 +35,7 @@ public class Force4 extends CommandBase { @Override public void execute() { double vitesse = (400); - lanceur.lancer(400); + lanceur.lancer(force4.getDouble(400)); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java index 9dfa156..1354f81 100644 --- a/src/main/java/frc/robot/commands/Force5.java +++ b/src/main/java/frc/robot/commands/Force5.java @@ -4,7 +4,7 @@ package frc.robot.commands; import frc.robot.subsystems.Accumulateur; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -14,17 +14,14 @@ public class Force5 extends CommandBase { private Lanceur lanceur; private Accumulateur accumulateur; - - public void Lancer(Lanceur lanceur) { - this.lanceur = lanceur; - this.accumulateur = accumulateur; - addRequirements(lanceur , accumulateur);} GenericEntry force5; + /** Creates a new Force1. */ - public Force5(Lanceur lanceur,GenericEntry force5) { + public Force5(Lanceur lanceur,GenericEntry force5, Accumulateur accumulateur) { this.lanceur = lanceur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); this.force5 = force5; + this.accumulateur = accumulateur; // Use addRequirements() here to declare subsystem dependencies. } @@ -38,7 +35,7 @@ public class Force5 extends CommandBase { @Override public void execute() { double vitesse = (500); - lanceur.lancer(500); + lanceur.lancer(force5.getDouble(500)); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java index 97cc71f..6655df4 100644 --- a/src/main/java/frc/robot/commands/Force6.java +++ b/src/main/java/frc/robot/commands/Force6.java @@ -4,8 +4,6 @@ package frc.robot.commands; import frc.robot.subsystems.Accumulateur; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; @@ -14,18 +12,15 @@ public class Force6 extends CommandBase { private Lanceur lanceur; private Accumulateur accumulateur; - - public void Lancer(Lanceur lanceur) { - this.lanceur = lanceur; - this.accumulateur = accumulateur; - addRequirements(lanceur , accumulateur); - } GenericEntry force6; + + /** Creates a new Force1. */ - public Force6(Lanceur lanceur, GenericEntry force6) { + public Force6(Lanceur lanceur, GenericEntry force6, Accumulateur accumulateur) { this.lanceur = lanceur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); this.force6 = force6; + this.accumulateur = accumulateur; // Use addRequirements() here to declare subsystem dependencies. } @@ -39,7 +34,7 @@ public class Force6 extends CommandBase { @Override public void execute() { double vitesse = (600); - lanceur.lancer(600); + lanceur.lancer(force6.getDouble(600)); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java index 78af2af..b1ba4cc 100644 --- a/src/main/java/frc/robot/commands/Force7.java +++ b/src/main/java/frc/robot/commands/Force7.java @@ -4,8 +4,6 @@ package frc.robot.commands; import frc.robot.subsystems.Accumulateur; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.Lanceur; @@ -14,17 +12,14 @@ public class Force7 extends CommandBase { private Lanceur lanceur; private Accumulateur accumulateur; - - public void Lancer(Lanceur lanceur) { - this.lanceur = lanceur; - this.accumulateur = accumulateur; - addRequirements(lanceur , accumulateur);} GenericEntry force7; + /** Creates a new Force1. */ - public Force7(Lanceur lanceur,GenericEntry force7) { + public Force7(Lanceur lanceur,GenericEntry force7, Accumulateur accumulateur) { this.lanceur = lanceur; - addRequirements(lanceur); + addRequirements(lanceur, accumulateur); this.force7 = force7; + this.accumulateur = accumulateur; // Use addRequirements() here to declare subsystem dependencies. } @@ -38,7 +33,7 @@ public class Force7 extends CommandBase { @Override public void execute() { double vitesse = (700); - lanceur.lancer(700); + lanceur.lancer(force7.getDouble(700)); if (lanceur.vitesse() > vitesse ){ accumulateur.tourneavant(); accumulateur.tournearriere(); diff --git a/src/main/java/frc/robot/subsystems/Accumulateur.java b/src/main/java/frc/robot/subsystems/Accumulateur.java index daa68d0..facaa88 100644 --- a/src/main/java/frc/robot/subsystems/Accumulateur.java +++ b/src/main/java/frc/robot/subsystems/Accumulateur.java @@ -7,7 +7,7 @@ package frc.robot.subsystems; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; -import edu.wpi.first.wpilibj.DigitalInput; + import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; From 426d7e98850bab9981306715215f9e8722bfbf89 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 20 Nov 2023 16:16:55 -0500 Subject: [PATCH 09/13] tesdrfhgjbn --- src/main/java/frc/robot/RobotContainer.java | 11 +++++- src/main/java/frc/robot/commands/Avancer.java | 2 + src/main/java/frc/robot/commands/Reculer.java | 38 +++++++++++++++++++ src/main/java/frc/robot/subsystems/Drive.java | 5 ++- 4 files changed, 53 insertions(+), 3 deletions(-) create mode 100644 src/main/java/frc/robot/commands/Reculer.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5fcb0a5..3719816 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -14,6 +14,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import frc.robot.commands.Avancer; +import frc.robot.commands.Force1; +import frc.robot.commands.Force6; +import frc.robot.commands.Force7; +import frc.robot.commands.Reculer; import frc.robot.subsystems.Accumulateur; import frc.robot.subsystems.Drive; import frc.robot.subsystems.Lanceur; @@ -21,6 +26,9 @@ import frc.robot.subsystems.Lanceur; public class RobotContainer { Lanceur lanceur = new Lanceur(); Accumulateur accumulateur = new Accumulateur(); + Force7 Force7 = new Force7(lanceur, null, accumulateur); + + Force1 Force1 = new Force1(lanceur, accumulateur, null); ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) @@ -54,6 +62,7 @@ public class RobotContainer { } public Command getAutonomousCommand() { - return new SequentialCommandGroup(null); + return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur) + , new Force1(lanceur, accumulateur, force1), new Reculer(drive)); } } diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java index 3ad931a..9cebc32 100644 --- a/src/main/java/frc/robot/commands/Avancer.java +++ b/src/main/java/frc/robot/commands/Avancer.java @@ -11,6 +11,8 @@ public class Avancer extends CommandBase { private Drive drive; /** Creates a new Avancer. */ public Avancer(Drive drive) { + this.drive = drive; + addRequirements(drive); // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java new file mode 100644 index 0000000..4c474b8 --- /dev/null +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -0,0 +1,38 @@ +// 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.CommandBase; +import frc.robot.subsystems.Drive; + +public class Reculer extends CommandBase { + private Drive drive; + /** Creates a new Reculer. */ + public Reculer(Drive drive) { + this.drive = drive; + addRequirements(drive); + // 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() { + drive.drive(-0.5, -0.2, 0); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java index 091680b..9d97d48 100644 --- a/src/main/java/frc/robot/subsystems/Drive.java +++ b/src/main/java/frc/robot/subsystems/Drive.java @@ -30,8 +30,9 @@ public class Drive extends SubsystemBase { e.printStackTrace(); } } - public void reset(){ - } + /* public double distance(){ + return + }*/ @Override public void periodic() { // This method will be called once per scheduler run From 9a6c653c729dfebcbe21fca22be2169bd80d01e9 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 28 Nov 2023 18:40:06 -0500 Subject: [PATCH 10/13] fchgn --- src/main/java/frc/robot/RobotContainer.java | 31 +++++++++++++------ src/main/java/frc/robot/commands/Avancer.java | 2 +- 2 files changed, 23 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3719816..af35985 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -12,10 +12,15 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.commands.Avancer; import frc.robot.commands.Force1; +import frc.robot.commands.Force2; +import frc.robot.commands.Force3; +import frc.robot.commands.Force4; +import frc.robot.commands.Force5; import frc.robot.commands.Force6; import frc.robot.commands.Force7; import frc.robot.commands.Reculer; @@ -26,9 +31,15 @@ import frc.robot.subsystems.Lanceur; public class RobotContainer { Lanceur lanceur = new Lanceur(); Accumulateur accumulateur = new Accumulateur(); - Force7 Force7 = new Force7(lanceur, null, accumulateur); + Force1 Force1 = new Force1(lanceur, accumulateur, null); + Force2 Force2 = new Force2(lanceur, accumulateur, null); + Force3 Force3 = new Force3(lanceur, null, accumulateur); + Force4 Force4 = new Force4(lanceur, null, accumulateur); + Force5 Force5 = new Force5(lanceur, null, accumulateur); + Force6 Force6 = new Force6(lanceur, null, accumulateur); + Force7 Force7 = new Force7(lanceur, null, accumulateur); ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) @@ -41,7 +52,7 @@ public class RobotContainer { GenericEntry force6 = forces.add("Force6", 0).getEntry(); GenericEntry force7 = forces.add("Force7", 0).getEntry(); CommandXboxController manette = new CommandXboxController(0); - Joystick joystick1 = new Joystick(0); + CommandJoystick joystick1 = new CommandJoystick(0); Drive drive = new Drive(); public RobotContainer() { @@ -52,15 +63,17 @@ public class RobotContainer { } private void configureBindings() { - JoystickButton button7 = new JoystickButton(joystick1, 7); - JoystickButton button8 = new JoystickButton(joystick1, 8); - JoystickButton button9 = new JoystickButton(joystick1, 9); - JoystickButton button10 = new JoystickButton(joystick1, 10); - JoystickButton button11 = new JoystickButton(joystick1, 11); - JoystickButton button12 = new JoystickButton(joystick1, 12); + joystick1.button(7).onTrue(Force1); + joystick1.button(8).onTrue(Force2); + joystick1.button(9).onTrue(Force3); + joystick1.button(10).onTrue(Force4); + joystick1.button(11).onTrue(Force5); + joystick1.button(12).onTrue(Force6); + joystick1.button(3).onTrue(Force7); + } - + public Command getAutonomousCommand() { return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur) , new Force1(lanceur, accumulateur, force1), new Reculer(drive)); diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java index 9cebc32..00286c4 100644 --- a/src/main/java/frc/robot/commands/Avancer.java +++ b/src/main/java/frc/robot/commands/Avancer.java @@ -25,7 +25,7 @@ public class Avancer extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - drive.drive(0.5, 0.2, 0); + drive.drive(0.5, 0.2, 0); } // Called once the command ends or is interrupted. From ff1a4919a7c6cda0b2b1cf5204d5cb05c3f72b86 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 28 Nov 2023 18:43:37 -0500 Subject: [PATCH 11/13] gbn --- src/main/java/frc/robot/subsystems/Drive.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java index 9d97d48..d2391d1 100644 --- a/src/main/java/frc/robot/subsystems/Drive.java +++ b/src/main/java/frc/robot/subsystems/Drive.java @@ -8,6 +8,7 @@ import java.io.File; import java.io.IOException; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj2.command.SubsystemBase; import swervelib.SwerveDrive; @@ -30,9 +31,9 @@ public class Drive extends SubsystemBase { e.printStackTrace(); } } - /* public double distance(){ - return - }*/ + public SwerveModulePosition[] distance(){ + return swerveDrive.getModulePositions(); + } @Override public void periodic() { // This method will be called once per scheduler run From b79c35e0ba62bbfcbf85577bdabb6628f47e686a Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 28 Nov 2023 18:44:48 -0500 Subject: [PATCH 12/13] ewas --- src/main/java/frc/robot/RobotContainer.java | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index af35985..7b6231f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -33,13 +33,7 @@ public class RobotContainer { Accumulateur accumulateur = new Accumulateur(); - Force1 Force1 = new Force1(lanceur, accumulateur, null); - Force2 Force2 = new Force2(lanceur, accumulateur, null); - Force3 Force3 = new Force3(lanceur, null, accumulateur); - Force4 Force4 = new Force4(lanceur, null, accumulateur); - Force5 Force5 = new Force5(lanceur, null, accumulateur); - Force6 Force6 = new Force6(lanceur, null, accumulateur); - Force7 Force7 = new Force7(lanceur, null, accumulateur); + ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) @@ -63,6 +57,13 @@ public class RobotContainer { } private void configureBindings() { + Force1 Force1 = new Force1(lanceur, accumulateur, null); + Force2 Force2 = new Force2(lanceur, accumulateur, null); + Force3 Force3 = new Force3(lanceur, null, accumulateur); + Force4 Force4 = new Force4(lanceur, null, accumulateur); + Force5 Force5 = new Force5(lanceur, null, accumulateur); + Force6 Force6 = new Force6(lanceur, null, accumulateur); + Force7 Force7 = new Force7(lanceur, null, accumulateur); joystick1.button(7).onTrue(Force1); joystick1.button(8).onTrue(Force2); joystick1.button(9).onTrue(Force3); From 98c1c4e3f7cab7316e434b4d5505436e2c9f4c70 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 28 Nov 2023 19:02:47 -0500 Subject: [PATCH 13/13] h --- src/main/java/frc/robot/commands/Avancer.java | 2 +- src/main/java/frc/robot/commands/Reculer.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java index 00286c4..476601e 100644 --- a/src/main/java/frc/robot/commands/Avancer.java +++ b/src/main/java/frc/robot/commands/Avancer.java @@ -35,6 +35,6 @@ public class Avancer extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - return false; + return drive.distance()[0].distanceMeters>1; } } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java index 4c474b8..9d67460 100644 --- a/src/main/java/frc/robot/commands/Reculer.java +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -33,6 +33,6 @@ public class Reculer extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - return false; + return drive.distance()[0].distanceMeters>1; } }