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base: PLS5618:75c59ddbe5528cab4565a54537f7d77d46b02b51
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PLS5618:main
PLS5618:Lanceur
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compare: PLS5618:1facdb07e5354ddbb305a058564278f8ff6760cf
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PLS5618:main
PLS5618:Lanceur

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2 changed files with 5 additions and 22 deletions
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13
src/main/java/frc/robot/Commands/Lancer.java
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@ -4,18 +4,14 @@
package frc.robot.Commands; package frc.robot.Commands;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Subsystems.Accumulateur;
import frc.robot.Subsystems.Lanceur; import frc.robot.Subsystems.Lanceur;
public class Lancer extends Command { public class Lancer extends Command {
private Lanceur lanceur; private Lanceur lanceur;
private Accumulateur accumulateur;
/** Creates a new Lancer. */ /** Creates a new Lancer. */
public Lancer(Lanceur lanceur,Accumulateur accumulateur) { public Lancer(Lanceur lanceur) {
this.lanceur = lanceur; this.lanceur = lanceur;
this.accumulateur = accumulateur; addRequirements(lanceur);
addRequirements(lanceur, accumulateur);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@ -26,10 +22,7 @@ public class Lancer 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() {
lanceur.lance(); lanceur.lance(0.5);
accumulateur.desaccumule(0.2);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override

14
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -13,12 +13,10 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry; 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.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase; 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() {dashboard.add("rottourel", 0.2) public Lanceur() {dashboard.add("rottourel", 0.2)
@ -29,8 +27,7 @@ public class Lanceur extends SubsystemBase {
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed); final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
final DigitalInput limitswitch1 = new DigitalInput(0); final
final DigitalInput limitswitch2 = new DigitalInput(1);
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2) dashboard.add("vitesselanceur", 0.2)
.withSize(0,0) .withSize(0,0)
@ -42,13 +39,12 @@ public class Lanceur extends SubsystemBase {
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1); lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
} }
public void masterslave(){ public void masterslave(){
lanceur2.follow(lanceur1); lanceur2.follow(lanceur1);
lanceur2.setInverted(true); lanceur2.setInverted(true);
} }
public void lance(double vitesse){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);lanceur2.set(vitesse);
} }
public void lance(){ public void lance(){
lance(vitesse.getDouble(0.2)); lance(vitesse.getDouble(0.2));
@ -68,12 +64,6 @@ public class Lanceur extends SubsystemBase {
lanceur1.config_kI(0, i); lanceur1.config_kI(0, i);
lanceur1.config_kD(0, d); lanceur1.config_kD(0, d);
} }
public boolean limitswitch1(){
return limitswitch1.get();
}
public boolean limitswitch2(){
return limitswitch2.get();
}
@Override @Override
public void periodic() { public void periodic() {
// This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run