diff --git a/src/main/java/frc/robot/Commands/Desaccumuler.java b/src/main/java/frc/robot/Commands/Desaccumuler.java index 4301dec..a393e20 100644 --- a/src/main/java/frc/robot/Commands/Desaccumuler.java +++ b/src/main/java/frc/robot/Commands/Desaccumuler.java @@ -22,7 +22,7 @@ public class Desaccumuler extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(accumulateur.photocell()){accumulateur.desaccumule(0.1);} + if(accumulateur.photocell() || accumulateur.photocell2()){accumulateur.desaccumule(0.1);} } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 1aeb09a..56f1d9b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -28,11 +28,11 @@ public class RobotContainer { CommandXboxController manette = new CommandXboxController(0); public RobotContainer() { dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800") - .withSize(3,4) + .withSize(4,3) .withPosition(0,0); dashboard.addCamera("limelight3", "limelight3","limelight.local:5800") - .withSize(3,4) - .withPosition(3,0); + .withSize(4,3) + .withPosition(4,0); configureBindings(); drive.setDefaultCommand(new RunCommand(()->{ drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2)); diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java index ea7e68d..a6fc01c 100644 --- a/src/main/java/frc/robot/Subsystems/Accumulateur.java +++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java @@ -12,8 +12,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; public class Accumulateur extends SubsystemBase { /** Creates a new Accumulateur. */ - public Accumulateur() {dashboard.addBoolean("photocellacc", this::photocell).withSize(1, 1).withPosition(0, 1); - dashboard.addBoolean("photocellacc2", this::photocell).withSize(1, 1).withPosition(0, 1); + public Accumulateur() {dashboard.addBoolean("photocell", this::photocell).withSize(1, 1).withPosition(0, 1); + dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(0, 1); } ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); @@ -23,8 +23,8 @@ public class Accumulateur extends SubsystemBase { .withPosition(0, 4) .getEntry(); - final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0); - final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10); + final WPI_TalonSRX strap = new WPI_TalonSRX(0); + final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10); final DigitalInput photocell = new DigitalInput(20); final DigitalInput photocell2 = new DigitalInput(21); public void encodeur(){ @@ -32,10 +32,17 @@ public class Accumulateur extends SubsystemBase { public boolean photocell(){ return photocell.get(); } - public void desaccumule(double vitesse){ - accumulateur1.set(vitesse); - accumulateur2.set(-vitesse); + public boolean photocell2(){ + return photocell2.get(); } + public void desaccumule(double vitesse){ + strap.set(vitesse); + + } + public void Petitlanceur(double vitesse){ + roueRouge.set(vitesse); + } + public void desaccumule(){ desaccumule(vitesse.getDouble(0.9)); } diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java index 0414745..cc97f61 100644 --- a/src/main/java/frc/robot/Subsystems/Lanceur.java +++ b/src/main/java/frc/robot/Subsystems/Lanceur.java @@ -21,7 +21,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Lanceur extends SubsystemBase { /** Creates a new Lanceur. */ - public Lanceur() {} + public Lanceur() {dashboard.add("rottourel", 0.2) + .withSize(0,0) + .withPosition(1, 3);} ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); @@ -32,13 +34,9 @@ public class Lanceur extends SubsystemBase { private GenericEntry vitesse = dashboard.add("vitesselanceur", 0.2) .withSize(0,0) - .withPosition(1, 4) - .getEntry(); - private GenericEntry rotation = - dashboard.add("rottourel", 0.2) - .withSize(0,0) - .withPosition(1, 5) + .withPosition(0, 3) .getEntry(); + public void encodeur(double distance){ lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); @@ -58,9 +56,7 @@ public class Lanceur extends SubsystemBase { public void tourelRotation(double x, double y, double rotation){ tourelle.set(rotation); } - public void tourelRotation(){ - tourelle.set(rotation.getDouble(0.1)); - } + public double vitessetourel(){ return(tourelle.getEncoder().getVelocity()); }