PLS5618/pratique-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

acc + update dash

Browse Source
This commit is contained in:
Olivier Dubois
2024-11-13 18:56:31 -05:00
parent 4ddd030426
commit ab36e8dadf
4 changed files with 24 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/java/frc/robot/Commands/Desaccumuler.java
View File

@@ -22,7 +22,7 @@ public class Desaccumuler extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { 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. // Called once the command ends or is interrupted.

6
src/main/java/frc/robot/RobotContainer.java
View File

@@ -28,11 +28,11 @@ public class RobotContainer {
CommandXboxController manette = new CommandXboxController(0); CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() { public RobotContainer() {
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800") dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4) .withSize(4,3)
.withPosition(0,0); .withPosition(0,0);
dashboard.addCamera("limelight3", "limelight3","limelight.local:5800") dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
.withSize(3,4) .withSize(4,3)
.withPosition(3,0); .withPosition(4,0);
configureBindings(); configureBindings();
drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{
drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2)); drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));

21
src/main/java/frc/robot/Subsystems/Accumulateur.java
View File

@@ -12,8 +12,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Accumulateur extends SubsystemBase { public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */ /** Creates a new Accumulateur. */
public Accumulateur() {dashboard.addBoolean("photocellacc", this::photocell).withSize(1, 1).withPosition(0, 1); public Accumulateur() {dashboard.addBoolean("photocell", this::photocell).withSize(1, 1).withPosition(0, 1);
dashboard.addBoolean("photocellacc2", this::photocell).withSize(1, 1).withPosition(0, 1); dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(0, 1);
} }
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
@@ -23,8 +23,8 @@ public class Accumulateur extends SubsystemBase {
.withPosition(0, 4) .withPosition(0, 4)
.getEntry(); .getEntry();
final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0); final WPI_TalonSRX strap = new WPI_TalonSRX(0);
final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10); final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10);
final DigitalInput photocell = new DigitalInput(20); final DigitalInput photocell = new DigitalInput(20);
final DigitalInput photocell2 = new DigitalInput(21); final DigitalInput photocell2 = new DigitalInput(21);
public void encodeur(){ public void encodeur(){
@@ -32,10 +32,17 @@ public class Accumulateur extends SubsystemBase {
public boolean photocell(){ public boolean photocell(){
return photocell.get(); return photocell.get();
} }
public void desaccumule(double vitesse){ public boolean photocell2(){
accumulateur1.set(vitesse); return photocell2.get();
accumulateur2.set(-vitesse);
} }
public void desaccumule(double vitesse){
strap.set(vitesse);
}
public void Petitlanceur(double vitesse){
roueRouge.set(vitesse);
}
public void desaccumule(){ public void desaccumule(){
desaccumule(vitesse.getDouble(0.9)); desaccumule(vitesse.getDouble(0.9));
} }

16
src/main/java/frc/robot/Subsystems/Lanceur.java
View File

@@ -19,7 +19,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Lanceur extends SubsystemBase { public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */ /** Creates a new Lanceur. */
public Lanceur() {} public Lanceur() {dashboard.add("rottourel", 0.2)
.withSize(0,0)
.withPosition(1, 3);}
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(0);
@@ -28,13 +30,9 @@ public class Lanceur extends SubsystemBase {
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2) dashboard.add("vitesselanceur", 0.2)
.withSize(0,0) .withSize(0,0)
.withPosition(1, 4) .withPosition(0, 3)
.getEntry();
private GenericEntry rotation =
dashboard.add("rottourel", 0.2)
.withSize(0,0)
.withPosition(1, 5)
.getEntry(); .getEntry();
public void encodeur(double distance){ public void encodeur(double distance){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@@ -53,9 +51,7 @@ public class Lanceur extends SubsystemBase {
public void tourelRotation(double x, double y, double rotation){ public void tourelRotation(double x, double y, double rotation){
tourelle.set(rotation); tourelle.set(rotation);
} }
public void tourelRotation(){
tourelle.set(rotation.getDouble(0.1));
}
public double vitessetourel(){ public double vitessetourel(){
return(tourelle.getEncoder().getVelocity()); return(tourelle.getEncoder().getVelocity());
} }