From 6d9f20d3397c021d4ac93924457bb64a2e8be9d0 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 1 Nov 2023 19:23:05 -0400 Subject: [PATCH] rdgfhj --- src/main/java/frc/robot/RobotContainer.java | 1 + src/main/java/frc/robot/commands/Force1.java | 6 ++- src/main/java/frc/robot/commands/Force2.java | 43 +++++++++++++++++++ src/main/java/frc/robot/commands/Force3.java | 43 +++++++++++++++++++ src/main/java/frc/robot/commands/Force4.java | 43 +++++++++++++++++++ src/main/java/frc/robot/commands/Force5.java | 43 +++++++++++++++++++ src/main/java/frc/robot/commands/Force6.java | 43 +++++++++++++++++++ src/main/java/frc/robot/commands/Force7.java | 43 +++++++++++++++++++ .../java/frc/robot/subsystems/Lanceur.java | 2 +- 9 files changed, 264 insertions(+), 3 deletions(-) create mode 100644 src/main/java/frc/robot/commands/Force2.java create mode 100644 src/main/java/frc/robot/commands/Force3.java create mode 100644 src/main/java/frc/robot/commands/Force4.java create mode 100644 src/main/java/frc/robot/commands/Force5.java create mode 100644 src/main/java/frc/robot/commands/Force6.java create mode 100644 src/main/java/frc/robot/commands/Force7.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ed090c1..0d7a5a5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -28,6 +28,7 @@ public class RobotContainer { private void configureBindings() { JoystickButton button =new JoystickButton(joystick1, 1); + } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java index ea7d2a0..dc20f55 100644 --- a/src/main/java/frc/robot/commands/Force1.java +++ b/src/main/java/frc/robot/commands/Force1.java @@ -26,12 +26,14 @@ public class Force1 extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - + lanceur.lancer(500); } // Called once the command ends or is interrupted. @Override - public void end(boolean interrupted) {} + public void end(boolean interrupted) { + lanceur.lancer(0); + } // Returns true when the command should end. @Override diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java new file mode 100644 index 0000000..2a2a890 --- /dev/null +++ b/src/main/java/frc/robot/commands/Force2.java @@ -0,0 +1,43 @@ +// 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.Lanceur; + +public class Force2 extends CommandBase { + private Lanceur lanceur; + + /** Creates a new Force1. */ + public Force2(Lancer lancer) { + this.lanceur = lanceur; + addRequirements(lanceur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lanceur.setPID(0,0,0); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + lanceur.lancer(500); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lanceur.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java new file mode 100644 index 0000000..a98dcd8 --- /dev/null +++ b/src/main/java/frc/robot/commands/Force3.java @@ -0,0 +1,43 @@ +// 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.Lanceur; + +public class Force3 extends CommandBase { + private Lanceur lanceur; + + /** Creates a new Force1. */ + public Force3(Lancer lancer) { + this.lanceur = lanceur; + addRequirements(lanceur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lanceur.setPID(0,0,0); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + lanceur.lancer(500); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lanceur.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java new file mode 100644 index 0000000..6aba602 --- /dev/null +++ b/src/main/java/frc/robot/commands/Force4.java @@ -0,0 +1,43 @@ +// 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.Lanceur; + +public class Force4 extends CommandBase { + private Lanceur lanceur; + + /** Creates a new Force1. */ + public Force4(Lancer lancer) { + this.lanceur = lanceur; + addRequirements(lanceur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lanceur.setPID(0,0,0); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + lanceur.lancer(500); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lanceur.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java new file mode 100644 index 0000000..66a2a35 --- /dev/null +++ b/src/main/java/frc/robot/commands/Force5.java @@ -0,0 +1,43 @@ +// 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.Lanceur; + +public class Force5 extends CommandBase { + private Lanceur lanceur; + + /** Creates a new Force1. */ + public Force5(Lancer lancer) { + this.lanceur = lanceur; + addRequirements(lanceur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lanceur.setPID(0,0,0); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + lanceur.lancer(500); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lanceur.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java new file mode 100644 index 0000000..e5c3fa6 --- /dev/null +++ b/src/main/java/frc/robot/commands/Force6.java @@ -0,0 +1,43 @@ +// 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.Lanceur; + +public class Force6 extends CommandBase { + private Lanceur lanceur; + + /** Creates a new Force1. */ + public Force6(Lancer lancer) { + this.lanceur = lanceur; + addRequirements(lanceur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lanceur.setPID(0,0,0); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + lanceur.lancer(500); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lanceur.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java new file mode 100644 index 0000000..ceb88d9 --- /dev/null +++ b/src/main/java/frc/robot/commands/Force7.java @@ -0,0 +1,43 @@ +// 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.Lanceur; + +public class Force7 extends CommandBase { + private Lanceur lanceur; + + /** Creates a new Force1. */ + public Force7(Lancer lancer) { + this.lanceur = lanceur; + addRequirements(lanceur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lanceur.setPID(0,0,0); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + lanceur.lancer(500); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lanceur.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java index 4c1bbfa..f37e57f 100644 --- a/src/main/java/frc/robot/subsystems/Lanceur.java +++ b/src/main/java/frc/robot/subsystems/Lanceur.java @@ -38,6 +38,6 @@ public class Lanceur extends SubsystemBase { // This method will be called once per scheduler run } - public void setPID(double d, double e, int i) { + public void setPID(double p, double i, int d) { } }