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Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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This commit is contained in:
Antoine PerreaultE 2023-11-29 19:23:56 -05:00
commit 17f8cde2ba
13 changed files with 244 additions and 101 deletions
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60
src/main/java/frc/robot/RobotContainer.java
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@ -3,36 +3,80 @@
// 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;
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;
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();
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);
CommandJoystick joystick1 = new CommandJoystick(0);
Drive drive = new Drive();
public RobotContainer() {
configureBindings();
// drive.setDefaultCommand(new RunCommand(()->{
// drive.drive(manette.getLeftX(), manette.getLeftY(), manette.getRightX());
//},drive));
drive.setDefaultCommand(new RunCommand(()->{
drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ());
},drive));
}
private void configureBindings() {
JoystickButton button =new JoystickButton(joystick1, 1);
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);
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(null);
return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
, new Force1(lanceur, accumulateur, force1), new Reculer(drive));
}
}

40
src/main/java/frc/robot/commands/Avancer.java Normal file
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@ -0,0 +1,40 @@
// 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) {
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 drive.distance()[0].distanceMeters>1;
}
}

35
src/main/java/frc/robot/commands/Force1.java
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@ -3,57 +3,56 @@
// the WPILib BSD license file in the root directory of this project.
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.Accumulateur;
import frc.robot.subsystems.Lanceur;
public class Force1 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
GenericEntry force1;
public void Lancer(Lanceur lanceur) {
/** Creates a new Force1. */
public Force1(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force1) {
this.lanceur = lanceur;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
addRequirements(lanceur, accumulateur);
this.force1 = force1;
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
lanceur.setPID(0, 0, 0);
lanceur.setPID(0,0,0);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double vitesse = SmartDashboard.getNumber("Force Lanceur", 100);
lanceur.lancer(200);
lanceur.lancer(force1.getDouble(100));
double vitesse = (100);
if (lanceur.vitesse() > vitesse ){
if(accumulateur.tourneavant() < 1024){
accumulateur.Deaccumuler();
}
if(accumulateur.tournearriere()<-256){
accumulateur.reaccumuler();
}
accumulateur.tourneavant();
accumulateur.tournearriere();
} else {
accumulateur.stop();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lanceur.stop();
accumulateur.stop();
lanceur.lancer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return lanceur.distance()>1;
return false;
}
}

31
src/main/java/frc/robot/commands/Force2.java
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@ -2,57 +2,54 @@
// 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.
// 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 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.Accumulateur;
import frc.robot.subsystems.Lanceur;
public class Force2 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
public void Lancer(Lanceur lanceur) {
GenericEntry force2;
/** Creates a new Force1. */
public Force2(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force2) {
this.lanceur = lanceur;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
addRequirements(lanceur, accumulateur);
this.force2 = force2;
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
lanceur.setPID(0, 0, 0);
lanceur.setPID(0,0,0);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
lanceur.lancer(200);
double vitesse = (200);
lanceur.lancer(force2.getDouble(200));
if (lanceur.vitesse() > vitesse ){
accumulateur.tourneavant();
accumulateur.tournearriere();
} else {
accumulateur.stop();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lanceur.stop();
accumulateur.stop();
lanceur.lancer(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return lanceur.distance()>1;
return false;
}
}

31
src/main/java/frc/robot/commands/Force3.java
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@ -8,7 +8,9 @@
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;
@ -16,11 +18,15 @@ public class Force3 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
GenericEntry force3;
public void Lancer(Lanceur lanceur) {
/** Creates a new Force1. */
public Force3(Lanceur lanceur,GenericEntry force3, Accumulateur accumulateur) {
this.lanceur = lanceur;
addRequirements(lanceur, accumulateur);
this.force3 = force3;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@ -32,27 +38,18 @@ public class Force3 extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double vitesse = SmartDashboard.getNumber("Force Lanceur", 300);
lanceur.lancer(200);
double vitesse = (300);
lanceur.lancer(force3.getDouble(300));
if (lanceur.vitesse() > vitesse ){
accumulateur.tourneavant();
accumulateur.tournearriere();
} else {
accumulateur.stop();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lanceur.stop();
accumulateur.stop();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return lanceur.distance()>1;
return false;
}
}
}

17
src/main/java/frc/robot/commands/Force4.java
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@ -4,7 +4,9 @@
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;
@ -12,11 +14,15 @@ public class Force4 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
GenericEntry force4;
public void Lancer(Lanceur lanceur) {
/** Creates a new Force1. */
public Force4(Lanceur lanceur,GenericEntry force4, Accumulateur accumulateur) {
this.lanceur = lanceur;
addRequirements(lanceur, accumulateur);
this.force4 = force4;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@ -28,8 +34,8 @@ 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);
lanceur.lancer(200);
double vitesse = (400);
lanceur.lancer(force4.getDouble(400));
if (lanceur.vitesse() > vitesse ){
accumulateur.tourneavant();
accumulateur.tournearriere();
@ -37,6 +43,7 @@ public class Force4 extends CommandBase {
accumulateur.stop();
}
lanceur.lancer(force4.getDouble(0));
}
// Called once the command ends or is interrupted.

17
src/main/java/frc/robot/commands/Force5.java
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@ -4,7 +4,9 @@
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;
@ -12,11 +14,15 @@ public class Force5 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
GenericEntry force5;
public void Lancer(Lanceur lanceur) {
/** Creates a new Force1. */
public Force5(Lanceur lanceur,GenericEntry force5, Accumulateur accumulateur) {
this.lanceur = lanceur;
addRequirements(lanceur, accumulateur);
this.force5 = force5;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@ -28,8 +34,8 @@ 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);
lanceur.lancer(200);
double vitesse = (500);
lanceur.lancer(force5.getDouble(500));
if (lanceur.vitesse() > vitesse ){
accumulateur.tourneavant();
accumulateur.tournearriere();
@ -37,6 +43,7 @@ public class Force5 extends CommandBase {
accumulateur.stop();
}
lanceur.lancer(force5.getDouble(0));
}
// Called once the command ends or is interrupted.

16
src/main/java/frc/robot/commands/Force6.java
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@ -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;
import frc.robot.subsystems.Lanceur;
@ -12,11 +12,16 @@ public class Force6 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
GenericEntry force6;
public void Lancer(Lanceur lanceur) {
/** Creates a new Force1. */
public Force6(Lanceur lanceur, GenericEntry force6, Accumulateur accumulateur) {
this.lanceur = lanceur;
addRequirements(lanceur, accumulateur);
this.force6 = force6;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@ -28,8 +33,8 @@ 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);
lanceur.lancer(200);
double vitesse = (600);
lanceur.lancer(force6.getDouble(600));
if (lanceur.vitesse() > vitesse ){
accumulateur.tourneavant();
accumulateur.tournearriere();
@ -37,6 +42,7 @@ public class Force6 extends CommandBase {
accumulateur.stop();
}
lanceur.lancer(force6.getDouble(0));
}
// Called once the command ends or is interrupted.

15
src/main/java/frc/robot/commands/Force7.java
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@ -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;
import frc.robot.subsystems.Lanceur;
@ -12,11 +12,15 @@ public class Force7 extends CommandBase {
private Lanceur lanceur;
private Accumulateur accumulateur;
GenericEntry force7;
public void Lancer(Lanceur lanceur) {
/** Creates a new Force1. */
public Force7(Lanceur lanceur,GenericEntry force7, Accumulateur accumulateur) {
this.lanceur = lanceur;
addRequirements(lanceur, accumulateur);
this.force7 = force7;
this.accumulateur = accumulateur;
addRequirements(lanceur , accumulateur);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@ -28,8 +32,8 @@ 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);
lanceur.lancer(200);
double vitesse = (700);
lanceur.lancer(force7.getDouble(700));
if (lanceur.vitesse() > vitesse ){
accumulateur.tourneavant();
accumulateur.tournearriere();
@ -37,6 +41,7 @@ public class Force7 extends CommandBase {
accumulateur.stop();
}
lanceur.lancer(force7.getDouble(0));
}
// Called once the command ends or is interrupted.

38
src/main/java/frc/robot/commands/Reculer.java Normal file
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@ -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 drive.distance()[0].distanceMeters>1;
}
}

2
src/main/java/frc/robot/subsystems/Accumulateur.java
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@ -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;

5
src/main/java/frc/robot/subsystems/Drive.java
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@ -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;
@ -30,7 +31,9 @@ public class Drive extends SubsystemBase {
e.printStackTrace();
}
}
public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions();
}
@Override
public void periodic() {
// This method will be called once per scheduler run

4
src/main/java/frc/robot/subsystems/Lanceur.java
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@ -6,14 +6,14 @@ package frc.robot.subsystems;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class Lanceur extends SubsystemBase {
final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
public Lanceur(){}
final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
public void lancer(double vitesse){
lanceur.set(vitesse);