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Dashboard limelights et accumulateur

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This commit is contained in:
Olivier Dubois 2024-10-30 19:14:06 -04:00
parent bde1715f76
commit fd72aaf8bd
2 changed files with 34 additions and 1 deletions
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9
src/main/java/frc/robot/RobotContainer.java
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@ -4,11 +4,20 @@
package frc.robot;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
public class RobotContainer {
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
public RobotContainer() {
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4)
.withPosition(0,0);
dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
.withSize(3,4)
.withPosition(3,0);
configureBindings();
}

26
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -5,6 +5,10 @@
package frc.robot.Subsystems;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@ -12,15 +16,35 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */
public Accumulateur() {}
public Accumulateur() {dashboard.addBoolean("photocellacc", this::limitswitch)
.withSize(1, 1)
.withPosition(0, 1);
}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private GenericEntry vitesse =
dashboard.add("vitesseacc", 0.1)
.withSize(1, 1)
.withPosition(0, 4)
.getEntry();
final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
final DigitalInput photocell = new DigitalInput(94);
public void encodeur(){
}
public boolean limitswitch(){
return !photocell.get();
}
public void desaccumule(double vitesse){
accumulateur1.set(vitesse);
accumulateur2.set(-vitesse);
}
public void desaccumule(){
desaccumule(vitesse.getDouble(0.9));
}
@Override
public void periodic() {
// This method will be called once per scheduler run