PLS5618/pratique-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

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This commit is contained in:
samuel desharnais 2024-12-16 18:17:26 -05:00
commit 27ba15f95f
4 changed files with 41 additions and 7 deletions
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24
src/main/deploy/pathplanner/autos/mode 1.auto
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@ -27,6 +27,18 @@
"waitTime": 2.0 "waitTime": 2.0
} }
}, },
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {
@ -52,6 +64,18 @@
"waitTime": 2.0 "waitTime": 2.0
} }
}, },
{
"type": "named",
"data": {
"name": "lancer"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {

1
src/main/java/frc/robot/RobotContainer.java
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@ -35,6 +35,7 @@ public class RobotContainer {
CommandXboxController manette = new CommandXboxController(0); CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() { public RobotContainer() {
//NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur)); //NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
//NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
//autoChooser = AutoBuilder.buildAutoChooser(); //autoChooser = AutoBuilder.buildAutoChooser();
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800") dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4) .withSize(3,4)

17
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -23,10 +23,12 @@ public class Accumulateur extends SubsystemBase {
.withPosition(0, 0) .withPosition(0, 0)
.getEntry(); .getEntry();
final WPI_TalonSRX strap = new WPI_TalonSRX(0); final WPI_TalonSRX strap = new WPI_TalonSRX(16);
final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10); final WPI_TalonSRX rouesbleues = new WPI_TalonSRX(21);
final WPI_TalonSRX roueRouge1 = new WPI_TalonSRX(14);
final WPI_TalonSRX roueRouge2 = new WPI_TalonSRX(22);
final DigitalInput photocell = new DigitalInput(20); final DigitalInput photocell = new DigitalInput(20);
final DigitalInput photocell2 = new DigitalInput(21); final DigitalInput photocell2 = new DigitalInput(27);
public void encodeur(){ public void encodeur(){
} }
public boolean photocell(){ public boolean photocell(){
@ -39,8 +41,15 @@ public class Accumulateur extends SubsystemBase {
strap.set(vitesse); strap.set(vitesse);
} }
public void masterslave(){
roueRouge2.follow(roueRouge1);
roueRouge1.setInverted(true);
}
public void masterslave2(){
rouesbleues.follow(strap);
}
public void Petitlanceur(double vitesse){ public void Petitlanceur(double vitesse){
roueRouge.set(vitesse); roueRouge1.set(vitesse);
} }
public void desaccumule(){ public void desaccumule(){

6
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -31,8 +31,8 @@ public class Lanceur extends SubsystemBase {
} }
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(17);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(2); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless); final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
final DigitalInput limitswitch1 = new DigitalInput(0); final DigitalInput limitswitch1 = new DigitalInput(0);
final DigitalInput limitswitch2 = new DigitalInput(3); final DigitalInput limitswitch2 = new DigitalInput(3);
@ -55,7 +55,7 @@ public class Lanceur extends SubsystemBase {
} }
public void masterslave(){ public void masterslave(){
lanceur2.follow(lanceur1); lanceur2.follow(lanceur1);
lanceur2.setInverted(true); lanceur1.setInverted(true);
} }
public void lance(double vitesse){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);