PLS5618/betabot-2024
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Antoine PerreaultE 2023-12-05 19:17:49 -05:00
commit bf8ddfcf2a
7 changed files with 112 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/main/java/frc/robot/RobotContainer.java
View File

@ -11,7 +11,9 @@ 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.ParallelCommandGroup;
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 frc.robot.commands.Avancer;
@ -23,6 +25,7 @@ import frc.robot.commands.Force4;
import frc.robot.commands.Force5;
import frc.robot.commands.Force6;
import frc.robot.commands.Force7;
import frc.robot.commands.Force1;
import frc.robot.commands.Reculer;
import frc.robot.commands.accumulateurtest;
import frc.robot.subsystems.Accumulateur;
@ -36,7 +39,10 @@ public class RobotContainer {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
.getLayout("forces", BuiltInLayouts.kList)
.withSize(3, 7);
.withSize(1, 7)
.withPosition(1, 0)
.withSize(1, 7);
GenericEntry force1 = forces.add("Force1", 2).getEntry();
GenericEntry force2 = forces.add("Force2", 4).getEntry();
GenericEntry force3 = forces.add("Force3", 6).getEntry();
@ -79,10 +85,10 @@ public class RobotContainer {
joystick1.button(12).whileTrue(Force7);
}
public Command getAutonomousCommand() {
return null;
/* new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
, new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
*/ }
return new SequentialCommandGroup(new ParallelCommandGroup(new Force1(lanceur).withTimeout(5),new accumulateurtest(accumulateur).withTimeout(5))
,new Avancer(drive));
}
}

3
src/main/java/frc/robot/commands/Avancer.java
View File

@ -16,7 +16,8 @@ public class Avancer extends CommandBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
.getLayout("Avancer", BuiltInLayouts.kList)
.withSize(3, 3);
.withSize(1, 4)
.withPosition(4, 0);
/** Creates a new Avancer. */
public Avancer(Drive drive) {
avancer.add("vitesse x", 1);

7
src/main/java/frc/robot/commands/Force1.java
View File

@ -5,13 +5,18 @@
package frc.robot.commands;
import edu.wpi.first.networktables.GenericEntry;
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 {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
private Lanceur lanceur;
/** Creates a new LancerTest. */
public Force1(Lanceur lanceur, GenericEntry force1) {
public Force1(Lanceur lanceur) {
dashboard.add("vitesse lanceur", 0.5);
this.lanceur = lanceur;
addRequirements(lanceur);
// Use addRequirements() here to declare subsystem dependencies.

37
src/main/java/frc/robot/commands/LanceurAuto.java Normal file
View File

@ -0,0 +1,37 @@
// 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 LanceurAuto extends CommandBase {
private Lanceur lanceur;
/** Creates a new LanceurAuto. */
public LanceurAuto(Lanceur lanceur) {
this.lanceur = 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() {}
// 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;
}
}

3
src/main/java/frc/robot/commands/Reculer.java
View File

@ -16,7 +16,8 @@ public class Reculer extends CommandBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
.getLayout("Reculer", BuiltInLayouts.kList)
.withSize(3, 3);
.withSize(1, 4)
.withPosition(6,0);
/** Creates a new Reculer. */
public Reculer(Drive drive) {
reculer.add("vitesse x", 1);

43
src/main/java/frc/robot/subsystems/Drive.java
View File

@ -7,17 +7,47 @@ package frc.robot.subsystems;
import java.io.File;
import java.io.IOException;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import swervelib.SwerveDrive;
import swervelib.encoders.CanAndCoderSwerve;
import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
.getLayout("Avancer", BuiltInLayouts.kList)
.withSize(1, 4)
.withPosition(4, 0);
ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
.getLayout("Reculer", BuiltInLayouts.kList)
.withSize(1, 4)
.withPosition(3,0);
SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
/* final CanAndCoderSwerve avantdroitdrive = new CanAndCoderSwerve(Constants.avantdroitDrive);
final CanAndCoderSwerve avantgauchedrive = new CanAndCoderSwerve(Constants.avantgaucheDrive);
final CanAndCoderSwerve arrieregauchedrive = new CanAndCoderSwerve(Constants.arrieregaucheDrive);
final CanAndCoderSwerve arrieredroitdrive = new CanAndCoderSwerve(Constants.arrieredroitDrive);
final CanAndCoderSwerve avantdroitangle = new CanAndCoderSwerve(Constants.avantdroitAngle);
final CanAndCoderSwerve avantgaucheangle = new CanAndCoderSwerve(Constants.avantgaucheAngle);
final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle);
final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
}
@ -26,6 +56,14 @@ public class Drive extends SubsystemBase {
/** Creates a new Drive. */
public Drive() {
reculer.add("vitesse x", 1);
reculer.add("vitesse y", 2);
reculer.add("vitesse z", 3);
reculer.add("distance", 4);
avancer.add("vitesse x", 1);
avancer.add("vitesse y", 2);
avancer.add("vitesse z", 3);
avancer.add("distance", 4);
try {
this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
} catch (IOException e) {
@ -36,6 +74,9 @@ public class Drive extends SubsystemBase {
public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions();
}
public void reset(){
}
@Override
public void periodic() {
// This method will be called once per scheduler run

17
src/main/java/frc/robot/subsystems/Lanceur.java
View File

@ -7,6 +7,7 @@ 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;
@ -18,14 +19,16 @@ public class Lanceur extends SubsystemBase {
ShuffleboardTab dash2 = Shuffleboard.getTab("Dashboard2.0");
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
//ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
//.getLayout("Pid", BuiltInLayouts.kList)
//.withSize(3, 7);
ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
.getLayout("Pid", BuiltInLayouts.kList)
.withSize(1, 3)
.withPosition(0, 0);
private GenericEntry p = pid.add("p", 1).getEntry();
public Lanceur(){
dash2.add("test", 1);
dashboard.add("p", 1);
dashboard.add("i", 2);
dashboard.add("d", 3);
double P = p.getDouble(1.0);
pid.add("i", 2).getEntry();
pid.add("d", 3).getEntry();
}
final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);