From 1862402ba070079422d5c100ecaefb9f4b6ca4d5 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 22 Feb 2023 19:10:42 -0500 Subject: [PATCH 01/25] jhgfd --- .../java/frc/robot/subsystems/bras/BrasTelescopique.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 94ed0f7..09bc449 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -12,13 +12,18 @@ import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { ShuffleboardTab teb = Shuffleboard.getTab("teb"); + ShuffleboardLayout winch = Shuffleboard.getTab("teb") + .getLayout("winch", BuiltInLayouts.kList) + .withSize(2, 2); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); @@ -47,6 +52,4 @@ public class BrasTelescopique extends SubsystemBase { teb .add("``photocell``",0.1); teb .add("winch",0.1); } - - } From e573024e4ba0c473935e45d1ba5c18544c06f7e1 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 22 Feb 2023 19:13:36 -0500 Subject: [PATCH 02/25] 45re --- .../java/frc/robot/subsystems/bras/BrasTelescopique.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 09bc449..2d744a0 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -21,8 +21,8 @@ import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { ShuffleboardTab teb = Shuffleboard.getTab("teb"); - ShuffleboardLayout winch = Shuffleboard.getTab("teb") - .getLayout("winch", BuiltInLayouts.kList) + ShuffleboardLayout layout = Shuffleboard.getTab("teb") + .getLayout("layout", BuiltInLayouts.kList) .withSize(2, 2); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} @@ -49,7 +49,7 @@ public class BrasTelescopique extends SubsystemBase { } @Override public void periodic() { - teb .add("``photocell``",0.1); + teb .add("photocell",0.1); teb .add("winch",0.1); } } From ac593c7f31b99d2e435de3b86f5b309da799096b Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 22 Feb 2023 19:16:07 -0500 Subject: [PATCH 03/25] thgf --- src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 2d744a0..f606459 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -52,4 +52,4 @@ public class BrasTelescopique extends SubsystemBase { teb .add("photocell",0.1); teb .add("winch",0.1); } -} +} \ No newline at end of file From e0fdb52d4f9562550150d574a842f8d07c1d716b Mon Sep 17 00:00:00 2001 From: Olivier Demers Date: Thu, 23 Feb 2023 15:44:07 +0000 Subject: [PATCH 04/25] fixed merge artifacts --- src/main/java/frc/robot/RobotContainer.java | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a68150c..5a4db6b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -75,10 +75,7 @@ public RobotContainer() { manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); -<<<<<<< HEAD // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); -======= ->>>>>>> 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7 manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut)); From 7dad4be45cd7c61dc33dea8141d92e7dd3a1562e Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 27 Feb 2023 19:43:14 -0500 Subject: [PATCH 05/25] commit --- .../frc/robot/subsystems/BasePilotable.class | Bin 3529 -> 4602 bytes .../frc/robot/subsystems/BasePilotable.java | 9 +++++---- .../java/frc/robot/subsystems/Gratte.java | 15 ++++++++++++--- .../subsystems/bras/BrasTelescopique.java | 10 +++++++++- .../java/frc/robot/subsystems/bras/Pivot.java | 6 ++++-- 5 files changed, 30 insertions(+), 10 deletions(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index a1ecf8d0e5dc7b0fe12ec67cf110faf2ead1688a..6df957728ed1e778f8670725a67dc68d0729bc7f 100644 GIT binary patch literal 4602 zcmbVPX?q)26@JItSn?!w+@!=!)23}mWRYgDof1247F%ATMsAE1WZVK_B#rHfM>Aq( zWXGXEp+G6ng|(#YE&EpL)^^g;5+0yH*_SVT=Og_KJiK>CTU;r%D_gqvp1J4T_pJBK ztN(l9WdMiqFBuIIZkus3s$-{ZPjw4vcggkioU0CLu0COywx^{{T}G3H1A4ZgF6Iq& z#&BFu%uFMFu1C$-xtwNY)ntiTuu2GP3!3F+9oz6E>`ri(>gWspIY!1+V}ti3^O`e1 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+13,9 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -32,6 +34,9 @@ public class BasePilotable extends SubsystemBase { private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche); //gyro ShuffleboardTab teb = Shuffleboard.getTab("teb"); + ShuffleboardLayout layout = Shuffleboard.getTab("teb") + .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList) + .withSize(2, 2); private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} public double getpitch() { return gyroscope.getPitch(); @@ -67,10 +72,6 @@ public void BrakeFerme(){ @Override public void periodic() { - teb .add("encodeuravantdroit",0.1); - teb .add("encodeurarrieregauche",0.1); - teb .add("encodeurarrieredroit",0.1); - teb .add("encodeuravantgauche",0.1); teb .add("distance",0.1); } } diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index e7e1cb6..8c5199a 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -12,13 +12,19 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; - - +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { +ShuffleboardTab teb = Shuffleboard.getTab("teb"); +ShuffleboardLayout layout = Shuffleboard.getTab("teb") +.getLayout("limitswitchsgratte", BuiltInLayouts.kList) +.withSize(2, 2); private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte); private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte); private DigitalInput limithd = new DigitalInput(Constants.limithd); @@ -51,6 +57,9 @@ public class Gratte extends SubsystemBase { } @Override public void periodic() { - // This method will be called once per scheduler run + limitswitchgratte.add ("limitbd", 0.1); + limitswitchgratte.add ("limithg", 0.1); + limitswitchgratte.add ("limithd", 0.1); + limitswitchgratte.add ("limitbg", 0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 3f38ebc..797cc12 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,11 +8,19 @@ package frc.robot.subsystems.bras; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { + +ShuffleboardTab teb = Shuffleboard.getTab("teb"); +ShuffleboardLayout layout = Shuffleboard.getTab("teb") +.getLayout("yeet", BuiltInLayouts.kList) +.withSize(2, 2); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); @@ -28,6 +36,6 @@ public class BrasTelescopique extends SubsystemBase { @Override public void periodic() { - Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1); + yeet.add ("encodeur",0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index d9166ec..6e6e9c9 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -5,12 +5,14 @@ package frc.robot.subsystems.bras; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import static frc.robot.Constants.*; public class Pivot extends SubsystemBase { +ShuffleboardTab teb = Shuffleboard.getTab("teb"); // moteur private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless); @@ -18,7 +20,7 @@ public class Pivot extends SubsystemBase { public void monteDescendre(double vitesse) { pivot.set (vitesse); } - // encoder + // encodeur public double distance(){ return (pivot.getEncoder().getPosition()); } @@ -27,6 +29,6 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { - Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1); + teb .add ("encodeur pivot",0.1); } } From 9833f8c594973a1e273e6f86540ecea609be7e85 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 27 Feb 2023 20:14:26 -0500 Subject: [PATCH 06/25] fdgsrytyu --- simgui-ds.json | 92 +++++++++++++++++++ simgui.json | 17 ++++ src/main/java/frc/robot/RobotContainer.java | 12 +++ .../java/frc/robot/subsystems/Gratte.java | 2 +- .../subsystems/bras/BrasTelescopique.java | 6 +- 5 files changed, 125 insertions(+), 4 deletions(-) create mode 100644 simgui-ds.json create mode 100644 simgui.json diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..73cc713 --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,92 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..1d8ea9a --- /dev/null +++ b/simgui.json @@ -0,0 +1,17 @@ +{ + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo" + } + }, + "NetworkTables": { + "transitory": { + "Shuffleboard": { + ".metadata": { + "open": true + }, + "open": true + } + } + } +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index de2c9d0..a2d0c3c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,8 +6,20 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.subsystems.BasePilotable; +import frc.robot.subsystems.Gratte; +import frc.robot.subsystems.Limelight; +import frc.robot.subsystems.bras.BrasTelescopique; +import frc.robot.subsystems.bras.Pince; +import frc.robot.subsystems.bras.Pivot; public class RobotContainer { + BasePilotable basePilotable = new BasePilotable(); + Gratte gratte = new Gratte(); + BrasTelescopique brasTelescopique = new BrasTelescopique(); + Pince pince = new Pince(); + Pivot pivot = new Pivot(); + Limelight limelight = new Limelight(); public RobotContainer() { configureBindings(); } diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 8c5199a..db7b8b6 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -22,7 +22,7 @@ import frc.robot.Constants; public class Gratte extends SubsystemBase { ShuffleboardTab teb = Shuffleboard.getTab("teb"); -ShuffleboardLayout layout = Shuffleboard.getTab("teb") +ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte); diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 797cc12..c47f2f0 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -18,8 +18,8 @@ import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { ShuffleboardTab teb = Shuffleboard.getTab("teb"); -ShuffleboardLayout layout = Shuffleboard.getTab("teb") -.getLayout("yeet", BuiltInLayouts.kList) +ShuffleboardLayout bras = Shuffleboard.getTab("teb") +.getLayout("bras", BuiltInLayouts.kList) .withSize(2, 2); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} @@ -36,6 +36,6 @@ ShuffleboardLayout layout = Shuffleboard.getTab("teb") @Override public void periodic() { - yeet.add ("encodeur",0.1); + bras.add ("encodeur",0.1); } } From 115b22af9e0dab70b6ce502ba8dd874ba300318a Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 17:52:39 -0500 Subject: [PATCH 07/25] csdf --- src/main/java/frc/robot/RobotContainer.java | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index dd97cd1..c04cf95 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -71,20 +71,23 @@ public RobotContainer() { } - private void configureBindings() { + private boolean configureBindings() { + // manette 1 manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); - manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut)); + // manette 2 + manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique)); manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique)); manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique)); manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique)); manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); + manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); + } public Command getAutonomousCommand() { From 8c1eb669ab217ed2ecc565af10c3d40dc83ebdc1 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 17:56:37 -0500 Subject: [PATCH 08/25] zdcfv --- src/main/java/frc/robot/subsystems/BasePilotable.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index b628ceb..43d1aaf 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -61,9 +61,8 @@ public void BrakeFerme(){ brakegauche.set(Value.kReverse); } public void resetGyro(){ - try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true); + {gyroscope.reset();} } - } /** Creates a new BasePilotable. */ public BasePilotable() { droit.setInverted(true); From 1f76a07202ff04455f267cfcea6b37c196790e50 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 17:57:00 -0500 Subject: [PATCH 09/25] ew --- src/main/java/frc/robot/Constants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 427cfff..1846ed1 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -6,13 +6,13 @@ public class Constants { public static int arrieredroit = 2; public static int arrieregauche = 3; - public static int leverGratte = 0; - public static int baisserGratte = 1; + public static int leverGratte = 7; + public static int baisserGratte = 6; // pneumatique public static int pistonpinceouvre = 0; public static int pistonpinceferme = 1; - public static int actuateur = 2; + public static int actuateur = 8; public static int brakedroit = 3; public static int brakegauche = 4; // DIO From 07ce25107ad6f3cc1fcdfcb9ab16bf4e94786019 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 17:58:08 -0500 Subject: [PATCH 10/25] c --- src/main/java/frc/robot/RobotContainer.java | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 83ba7b5..493cfbe 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,7 +6,6 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -<<<<<<< HEAD import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -64,23 +63,6 @@ PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pi PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY()); public RobotContainer() { -======= -import frc.robot.subsystems.BasePilotable; -import frc.robot.subsystems.Gratte; -import frc.robot.subsystems.Limelight; -import frc.robot.subsystems.bras.BrasTelescopique; -import frc.robot.subsystems.bras.Pince; -import frc.robot.subsystems.bras.Pivot; - -public class RobotContainer { - BasePilotable basePilotable = new BasePilotable(); - Gratte gratte = new Gratte(); - BrasTelescopique brasTelescopique = new BrasTelescopique(); - Pince pince = new Pince(); - Pivot pivot = new Pivot(); - Limelight limelight = new Limelight(); - public RobotContainer() { ->>>>>>> Dash configureBindings(); basePilotable.setDefaultCommand(new RunCommand(() -> { From af2f0bb61b8e9ae0b90005362a4503a75d87645f Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 18:01:56 -0500 Subject: [PATCH 11/25] rstdfghjbknl; --- src/main/java/frc/robot/Constants.java | 6 ------ src/main/java/frc/robot/subsystems/Gratte.java | 12 +----------- .../frc/robot/subsystems/bras/BrasTelescopique.java | 10 ---------- src/main/java/frc/robot/subsystems/bras/Pivot.java | 11 ++--------- 4 files changed, 3 insertions(+), 36 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 777fea3..73fa1ef 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -5,18 +5,12 @@ public class Constants { public static int avantgauche = 1; public static int arrieredroit = 2; public static int arrieregauche = 3; -<<<<<<< HEAD public static int BrasTelescopique = 4; public static int pivot = 5; //moteur public static int leverGratte = 0; public static int baisserGratte = 1; -======= - - public static int leverGratte = 7; - public static int baisserGratte = 6; ->>>>>>> Dash // pneumatique public static int pistonpinceouvre = 0; diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index e758b90..8707d45 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -7,25 +7,18 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; -<<<<<<< HEAD import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -======= import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; ->>>>>>> Dash import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= -ShuffleboardTab teb = Shuffleboard.getTab("teb"); + ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); ->>>>>>> Dash private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte); private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte); private DigitalInput limithd = new DigitalInput(Constants.limithd); @@ -59,16 +52,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") } @Override public void periodic() { -<<<<<<< HEAD teb .add("limithd", 0.1); teb .add("limithg", 0.1); teb .add("limitbd", 0.1); teb .add("limitbg", 0.1); -======= limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); ->>>>>>> Dash } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 815f1c0..8ddbd77 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,13 +8,10 @@ package frc.robot.subsystems.bras; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -<<<<<<< HEAD import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -======= ->>>>>>> Dash import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; @@ -23,18 +20,14 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { -<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") .getLayout("layout", BuiltInLayouts.kList) .withSize(2, 2); -======= -ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout bras = Shuffleboard.getTab("teb") .getLayout("bras", BuiltInLayouts.kList) .withSize(2, 2); ->>>>>>> Dash /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); @@ -60,11 +53,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb") } @Override public void periodic() { -<<<<<<< HEAD teb .add("photocell",0.1); teb .add("winch",0.1); -======= bras.add ("encodeur",0.1); ->>>>>>> Dash } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index a1ef017..ad36e3a 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { -<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= -ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> Dash // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -40,12 +36,9 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb"); } @Override public void periodic() { -<<<<<<< HEAD teb .add("encodeur", 0.1); } -} -======= - teb .add ("encodeur pivot",0.1); + { + teb.add ("encodeur pivot",0.1); } } ->>>>>>> Dash From bcc8ef7f8e7705a05454119276cae4ca6354a5c5 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 18:40:45 -0500 Subject: [PATCH 12/25] s --- src/main/java/frc/robot/RobotContainer.java | 3 +-- src/main/java/frc/robot/commands/GratteBaisser.java | 5 ++++- src/main/java/frc/robot/subsystems/Gratte.java | 7 ++++++- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 493cfbe..eef6f29 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -76,7 +76,6 @@ public RobotContainer() { manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); - // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); // manette 2 @@ -87,7 +86,7 @@ public RobotContainer() { manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); + manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); } diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java index de68b8f..0e79838 100644 --- a/src/main/java/frc/robot/commands/GratteBaisser.java +++ b/src/main/java/frc/robot/commands/GratteBaisser.java @@ -9,6 +9,7 @@ import frc.robot.subsystems.Gratte; public class GratteBaisser extends CommandBase { private Gratte gratte; + private int vitesse; /** Creates a new GratteBaisser. */ public GratteBaisser(Gratte gratte) { this.gratte = gratte; @@ -41,7 +42,9 @@ public class GratteBaisser extends CommandBase { // Called once the command ends or is interrupted. @Override - public void end(boolean interrupted) {} + public void end(boolean interrupted) { + + } // Returns true when the command should end. @Override diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 8707d45..3f727ef 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -25,6 +25,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") private DigitalInput limithg = new DigitalInput(Constants.limithg); private DigitalInput limitbd = new DigitalInput(Constants.limitbd); private DigitalInput limitbg = new DigitalInput(Constants.limitbg); +public boolean baiser; public boolean hautd(){ return limithd.get(); @@ -34,7 +35,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") return limithg.get(); } - public boolean basd(){ + public boolean basd(int i, String string){ return limitbd.get(); } public boolean basg(){ @@ -61,4 +62,8 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); } + +public boolean basd() { + return false; +} } From cd7604e30f9d6c974930cf5af86554639315c8a0 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 18:44:44 -0500 Subject: [PATCH 13/25] v --- src/main/java/frc/robot/commands/GratteBaisser.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java index 0e79838..8984475 100644 --- a/src/main/java/frc/robot/commands/GratteBaisser.java +++ b/src/main/java/frc/robot/commands/GratteBaisser.java @@ -9,7 +9,6 @@ import frc.robot.subsystems.Gratte; public class GratteBaisser extends CommandBase { private Gratte gratte; - private int vitesse; /** Creates a new GratteBaisser. */ public GratteBaisser(Gratte gratte) { this.gratte = gratte; From 8655fe985a4803aefe8aa4857c86c9b584d4f47b Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 18:53:40 -0500 Subject: [PATCH 14/25] bhbhbhbhh hbhbhbgfe --- .../frc/robot/subsystems/BasePilotable.class | Bin 4945 -> 5352 bytes src/main/java/frc/robot/Constants.java | 8 +--- src/main/java/frc/robot/RobotContainer.java | 37 +++--------------- .../frc/robot/subsystems/BasePilotable.java | 7 ++-- .../java/frc/robot/subsystems/Gratte.java | 13 +----- .../subsystems/bras/BrasTelescopique.java | 17 ++------ .../java/frc/robot/subsystems/bras/Pince.java | 3 +- .../java/frc/robot/subsystems/bras/Pivot.java | 16 +++----- 8 files changed, 19 insertions(+), 82 deletions(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index 97e4d2ea02ea1f4aecc4b5d209cb7cce22189f01..87950cbafadc0f0169446122d60981729af5519a 100644 GIT binary patch delta 994 zcma)5OHUI~6#g!y3>~I|MHelmCQuB;#Y7{x=t3SE#gs&Y0X1$0<`%~eGj$#iOiUBE zZX~ntcMzc{C?Y-(1Qp-!H;8ZdKH{aVp+-a8+-rTC&?J6Z`s*3iNlqVzM=pm_F5^YOS#h9&iSc=mB0R=%TfiOMCGbeH{98k>%8*q_>l9loL(w`T{~;HSQrQ-J5{ejezVU&z**Kkpf!WiW zpxI$_TW188EoRi0=Vrf3u5x3Iq^d27MI*%pcvJ#E4}#YMYT++-;}uH~2u+$sjYd^6 zO=@yjAgJg&T;@!A*X-r+k)ZOgRsCyV4xb5v%R>nYGTS*d=RNB3#8JrH06(1g%Bd}b zDU7(?DO?!C_#h^#M-bdMgvmjaRS)1~ehO3Up70G+592!6pK`0MpK3e5 zb)&fpqyM5R)0eH)`lP-Z-|x3^;~#KgykZlgck$hGa?f|p_ucRM>K5AgHMa<02;Zh? zjc%C?VcfN3D@{u&uRBEZpyepuzjsX<33f9Zs9i9)X~~q6(Mv|^x_1?8QfEG9}fsT z7AueBtE^OJ83O0PA$^=cDY8}cCLd;ZV4K=B06WIQDZOc+%oVjB5uWVlcf z%xr z-C|*1Fn6qIvScokW#yOxzk+r?>Fw`ONAh`A+GQG+#Vi@03Hr_+@8Mnk4VNbUCna|h z3W)gUA3V^}h}br+xLh`_FJZZkJA?D+Jvfa<9X*4Wan5ODWlCrr*d*#6k)VZk*ZKrj z|9YSwn*}3yi2b6j7dQ)N^DQb2E(RZkusVasHeM#1{Oy1IU5mGZg2DnwAb?SXF@|k8 ifL5p;T}yS~y^uNZ0UyO36zCK_;Y(b@I1b}$T>A}MgrXY& diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 777fea3..0dadcab 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -5,18 +5,12 @@ public class Constants { public static int avantgauche = 1; public static int arrieredroit = 2; public static int arrieregauche = 3; -<<<<<<< HEAD public static int BrasTelescopique = 4; public static int pivot = 5; //moteur public static int leverGratte = 0; - public static int baisserGratte = 1; -======= - - public static int leverGratte = 7; - public static int baisserGratte = 6; ->>>>>>> Dash + public static int baiserGratte = 1; // pneumatique public static int pistonpinceouvre = 0; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 83ba7b5..4157ed0 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,7 +6,6 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -<<<<<<< HEAD import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -17,7 +16,6 @@ import frc.robot.subsystems.Gratte; import frc.robot.subsystems.bras.BrasTelescopique; import frc.robot.subsystems.bras.Pince; import frc.robot.subsystems.bras.Pivot; -import pabeles.concurrency.ConcurrencyOps.Reset; import frc.robot.subsystems.Limelight; // command import frc.robot.commands.BrakeFerme; @@ -33,12 +31,7 @@ import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; -import frc.robot.commands.bras.PivotChercheBas; -import frc.robot.commands.bras.PivotChercheHaut; -import edu.wpi.first.apriltag.AprilTag; -import frc.robot.commands.Cube; -import frc.robot.commands.Cone; -import frc.robot.commands.Tape; + public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); @@ -64,23 +57,6 @@ PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pi PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY()); public RobotContainer() { -======= -import frc.robot.subsystems.BasePilotable; -import frc.robot.subsystems.Gratte; -import frc.robot.subsystems.Limelight; -import frc.robot.subsystems.bras.BrasTelescopique; -import frc.robot.subsystems.bras.Pince; -import frc.robot.subsystems.bras.Pivot; - -public class RobotContainer { - BasePilotable basePilotable = new BasePilotable(); - Gratte gratte = new Gratte(); - BrasTelescopique brasTelescopique = new BrasTelescopique(); - Pince pince = new Pince(); - Pivot pivot = new Pivot(); - Limelight limelight = new Limelight(); - public RobotContainer() { ->>>>>>> Dash configureBindings(); basePilotable.setDefaultCommand(new RunCommand(() -> { @@ -89,24 +65,21 @@ public class RobotContainer { } - private boolean configureBindings() { - // manette 1 + private void configureBindings() { manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); - manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); - // manette 2 - manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique)); + /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); + manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut)); manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique)); manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique)); manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique)); manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - + manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/ } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 783ac65..ac6eaca 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -35,7 +35,7 @@ public class BasePilotable extends SubsystemBase { //gyro ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") - .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList) + .getLayout ("distance", BuiltInLayouts.kList) .withSize(2, 2); private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} public double getpitch() { @@ -72,12 +72,11 @@ public void resetGyro(){ /** Creates a new BasePilotable. */ public BasePilotable() { droit.setInverted(true); + layout .addDouble("distance", this::distance); } @Override public void periodic() { - teb .add("distance",0.1); - teb .add("brakedroit",0.1); - teb .add("brakegauche", 0.1); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index e758b90..2fc91db 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -7,27 +7,19 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; -<<<<<<< HEAD import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -======= import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; ->>>>>>> Dash import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); ->>>>>>> Dash private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte); - private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte); + private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte); private DigitalInput limithd = new DigitalInput(Constants.limithd); private DigitalInput limithg = new DigitalInput(Constants.limithg); private DigitalInput limitbd = new DigitalInput(Constants.limitbd); @@ -59,16 +51,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") } @Override public void periodic() { -<<<<<<< HEAD teb .add("limithd", 0.1); teb .add("limithg", 0.1); teb .add("limitbd", 0.1); teb .add("limitbg", 0.1); -======= limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); ->>>>>>> Dash } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 815f1c0..ffe1dd0 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,13 +8,10 @@ package frc.robot.subsystems.bras; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -<<<<<<< HEAD import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -======= ->>>>>>> Dash import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; @@ -23,18 +20,13 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { -<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") .getLayout("layout", BuiltInLayouts.kList) .withSize(2, 2); -======= - -ShuffleboardTab teb = Shuffleboard.getTab("teb"); -ShuffleboardLayout bras = Shuffleboard.getTab("teb") -.getLayout("bras", BuiltInLayouts.kList) -.withSize(2, 2); ->>>>>>> Dash + ShuffleboardLayout bras = Shuffleboard.getTab("teb") + .getLayout("bras", BuiltInLayouts.kList) + .withSize(2, 2); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); @@ -60,11 +52,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb") } @Override public void periodic() { -<<<<<<< HEAD teb .add("photocell",0.1); teb .add("winch",0.1); -======= bras.add ("encodeur",0.1); ->>>>>>> Dash } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index 62022de..a8a7c81 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/src/main/java/frc/robot/subsystems/bras/Pince.java @@ -8,8 +8,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; + import frc.robot.Constants; diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index a1ef017..a252b7b 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= -ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> Dash +ShuffleboardTab teb = Shuffleboard.getTab("teb"); // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -40,12 +36,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb"); } @Override public void periodic() { -<<<<<<< HEAD teb .add("encodeur", 0.1); + teb .add ("encodeur pivot",0.1); } } -======= - teb .add ("encodeur pivot",0.1); - } -} ->>>>>>> Dash + + + From b3878866cf78ed972495cb4a2e35c882ec4cea44 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 7 Mar 2023 19:11:10 -0500 Subject: [PATCH 15/25] hdtgb --- src/main/java/frc/robot/RobotContainer.java | 3 ++- src/main/java/frc/robot/commands/Gyro.java | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 20a459a..37187a6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot; - +import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -34,6 +34,7 @@ import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; public class RobotContainer { + CameraServer.startAutomaticCapture(); CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index dcb7893..330e6b3 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -25,11 +25,11 @@ public class Gyro extends CommandBase { public void execute() { if(basePilotable.getpitch()<10) { - basePilotable.drive(0.4, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); } else if(basePilotable.getpitch()>-10) { - basePilotable.drive(-0.4, 0); + basePilotable.drive(-0.3*basePilotable.getpitch()/15, 0); } else { From 4a648fff253273e6370e24fca5c7299ba0c628ae Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Tue, 7 Mar 2023 19:12:38 -0500 Subject: [PATCH 16/25] jyrhn --- src/main/java/frc/robot/commands/Gyro.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index 330e6b3..88aec83 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -23,13 +23,13 @@ public class Gyro extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(basePilotable.getpitch()<10) + if(basePilotable.getpitch()>4) { basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); } - else if(basePilotable.getpitch()>-10) + else if(basePilotable.getpitch()<-4) { - basePilotable.drive(-0.3*basePilotable.getpitch()/15, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); } else { From e7f5b8144523fdd6e22e1077c36fe375d301090a Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 19:17:53 -0500 Subject: [PATCH 17/25] hgd --- .../frc/robot/subsystems/BasePilotable.class | Bin 5139 -> 5139 bytes src/main/java/frc/robot/Constants.java | 3 --- src/main/java/frc/robot/RobotContainer.java | 5 ---- src/main/java/frc/robot/commands/Gyro.java | 5 ++++ .../frc/robot/subsystems/BasePilotable.java | 1 - .../java/frc/robot/subsystems/Gratte.java | 20 +++++---------- .../java/frc/robot/subsystems/Limelight.java | 4 +-- .../subsystems/bras/BrasTelescopique.java | 6 ----- .../java/frc/robot/subsystems/bras/Pince.java | 1 - .../java/frc/robot/subsystems/bras/Pivot.java | 24 +++++------------- 10 files changed, 21 insertions(+), 48 deletions(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index 9d83fb8c4b8d806f9d9e70c4e4830a754a053402..30a8c07ebc00cf5bf07e74c7c45acc8d79238caf 100644 GIT binary patch delta 212 zcmbQNF#+{C-)1Q zb2Jr_2$A>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0 // pneumatique public static int pistonpinceouvre = 0; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b9a7dd2..5924a25 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -78,12 +78,7 @@ public RobotContainer() { manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); -<<<<<<< HEAD manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/ -======= - manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - ->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0 } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index dcb7893..a20e5aa 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -4,13 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.BasePilotable; public class Gyro extends CommandBase { + ShuffleboardTab teb = Shuffleboard.getTab("teb"); private BasePilotable basePilotable; /** Creates a new Gyro. */ public Gyro(BasePilotable basePilotable) { + teb.add("angleGyro", 0.1); + teb.add("vitesseGyro", 0.1); this.basePilotable = basePilotable; // Use addRequirements() here to declare subsystem dependencies. addRequirements(basePilotable); diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 4cbec8e..fb14cae 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -8,7 +8,6 @@ import com.kauailabs.navx.frc.AHRS; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.DoubleSolenoid; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.drive.DifferentialDrive; diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 7176d4f..1657537 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -14,11 +14,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { -<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= - ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); @@ -45,7 +41,12 @@ public boolean baiser; return limitbg.get(); } /** Creates a new Gratte. */ - public Gratte() {} + public Gratte() { + limitswitchgratte.add ("limitbd", 0.1); + limitswitchgratte.add ("limithg", 0.1); + limitswitchgratte.add ("limithd", 0.1); + limitswitchgratte.add ("limitbg", 0.1); + } public void Lever(double vitesse){ Gratted.set(vitesse); Gratteg.set(vitesse); @@ -56,14 +57,7 @@ public boolean baiser; } @Override public void periodic() { - teb .add("limithd", 0.1); - teb .add("limithg", 0.1); - teb .add("limitbd", 0.1); - teb .add("limitbg", 0.1); - limitswitchgratte.add ("limitbd", 0.1); - limitswitchgratte.add ("limithg", 0.1); - limitswitchgratte.add ("limithd", 0.1); - limitswitchgratte.add ("limitbg", 0.1); + } public boolean basd() { diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java index 58d30f8..abdddaf 100644 --- a/src/main/java/frc/robot/subsystems/Limelight.java +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase { PhotonCamera limelight = new PhotonCamera("limelight"); /** Creates a new Limelight. */ public Limelight() { + CameraServer.startAutomaticCapture(); + teb .add("limelight", 0.1); PortForwarder.add(5800, "photonvision.local", 5800); } @@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase { } @Override public void periodic() { - CameraServer.startAutomaticCapture(); - teb .add("limelight", 0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index cb92af3..0ba43ff 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -24,16 +24,10 @@ public class BrasTelescopique extends SubsystemBase { ShuffleboardLayout layout = Shuffleboard.getTab("teb") .getLayout("layout", BuiltInLayouts.kList) .withSize(2, 2); -<<<<<<< HEAD ShuffleboardLayout bras = Shuffleboard.getTab("teb") .getLayout("bras", BuiltInLayouts.kList) .withSize(2, 2); -======= -ShuffleboardLayout bras = Shuffleboard.getTab("teb") -.getLayout("bras", BuiltInLayouts.kList) -.withSize(2, 2); ->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0 /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index a8a7c81..6044d4c 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/src/main/java/frc/robot/subsystems/bras/Pince.java @@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; - import frc.robot.Constants; diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index e82eecc..7fa1c28 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,11 +14,8 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { -<<<<<<< HEAD -ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= - ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0 + ShuffleboardTab teb = Shuffleboard.getTab("teb"); + // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -27,6 +24,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb"); public void monteDescendre(double vitesse) { pivot.set (vitesse); } + public Pivot(){ + teb .add ("encodeurpivot",0.1); + teb .add ("limitpivot",0.1); + } // encodeur public double distance(){ return (pivot.getEncoder().getPosition()); @@ -40,17 +41,6 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb"); } @Override public void periodic() { - teb .add("encodeur", 0.1); - teb .add ("encodeur pivot",0.1); } -<<<<<<< HEAD -} - - +} -======= - { - teb.add ("encodeur pivot",0.1); - } -} ->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0 From 6208839355028b4d422dfafd4a7576a27bf76efd Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 19:56:20 -0500 Subject: [PATCH 18/25] h --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3b8b887..3520c0f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -34,7 +34,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux; public class RobotContainer { - CameraServer.startAutomaticCapture(); +CameraServer.startAutomaticCapture(); CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems From c8ed4a3ff2ef29eee491382efe4409f912e3dc4c Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 19:59:45 -0500 Subject: [PATCH 19/25] g --- .../java/frc/robot/subsystems/bras/BrasTelescopique.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 0ba43ff..e10ed52 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -29,7 +29,10 @@ public class BrasTelescopique extends SubsystemBase { .withSize(2, 2); /** Creates a new BrasTelescopique. */ - public BrasTelescopique() {} + public BrasTelescopique() { + teb .add("photocell",0.1); + teb .add("winch",0.1); + bras.add ("encodeur",0.1);} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); private DigitalInput photocell = new DigitalInput(Constants.photocell); private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb); @@ -53,8 +56,6 @@ public class BrasTelescopique extends SubsystemBase { } @Override public void periodic() { - teb .add("photocell",0.1); - teb .add("winch",0.1); - bras.add ("encodeur",0.1); + } } \ No newline at end of file From a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 20:01:30 -0500 Subject: [PATCH 20/25] wdes --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3520c0f..710e70d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot; -import edu.wpi.first.cameraserver.CameraServer; +//import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -34,7 +34,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux; public class RobotContainer { -CameraServer.startAutomaticCapture(); +//CameraServer.startAutomaticCapture(); CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems From 64556db1cdf87628040a1dff60884d7848a2b896 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 20:03:12 -0500 Subject: [PATCH 21/25] tfghjkm --- src/main/java/frc/robot/RobotContainer.java | 31 +++++++++------ .../frc/robot/commands/GratteBaisser.java | 8 ++-- .../java/frc/robot/commands/GratteMonte.java | 4 +- .../java/frc/robot/subsystems/Gratte.java | 38 ++++++++++++------- 4 files changed, 51 insertions(+), 30 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index eef6f29..3734664 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -18,6 +18,7 @@ import frc.robot.subsystems.bras.Pince; import frc.robot.subsystems.bras.Pivot; import pabeles.concurrency.ConcurrencyOps.Reset; import frc.robot.subsystems.Limelight; +import frc.robot.commands.Apriltag; // command import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeOuvre; @@ -35,6 +36,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux; import frc.robot.commands.bras.PivotChercheBas; import frc.robot.commands.bras.PivotChercheHaut; import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.math.spline.CubicHermiteSpline; import frc.robot.commands.Cube; import frc.robot.commands.Cone; import frc.robot.commands.Tape; @@ -62,6 +64,12 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot); PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot); PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY()); +PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot); +PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot); +Cube cube = new Cube(limelight, basePilotable, null); +Apriltag aprilTag = new Apriltag(limelight, basePilotable, null); +Tape tape = new Tape(limelight, basePilotable, null); + public RobotContainer() { configureBindings(); @@ -71,23 +79,24 @@ public RobotContainer() { } - private boolean configureBindings() { + private void configureBindings() { // manette 1 manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); - manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); + manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); + manette1.leftBumper().toggleOnTrue(aprilTag); + manette1.rightBumper().toggleOnTrue(tape); // manette 2 - manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique)); - manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique)); - manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique)); - manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique)); - manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); - manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); - manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - + manette2.a().onTrue(pivoteBrasHaut); + manette2.b().onTrue(pivoteBrasBas); + manette2.x().onTrue(pivoteBrasMilieux); + manette2.y().onTrue(pivotBrasRentre); + manette2.povRight().onTrue(pivotChercheBas); + manette2.povLeft().onTrue(pivotChercheHaut); + manette2.rightBumper().toggleOnTrue(cube); + manette2.leftBumper().toggleOnTrue(cone); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java index 8984475..61c7240 100644 --- a/src/main/java/frc/robot/commands/GratteBaisser.java +++ b/src/main/java/frc/robot/commands/GratteBaisser.java @@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase { // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + gratte.setenHaut(false); + } // Called every time the scheduler runs while the command is scheduled. @Override @@ -41,9 +43,7 @@ public class GratteBaisser extends CommandBase { // Called once the command ends or is interrupted. @Override - public void end(boolean interrupted) { - - } + public void end(boolean interrupted) {} // Returns true when the command should end. @Override diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java index 3581712..507b90d 100644 --- a/src/main/java/frc/robot/commands/GratteMonte.java +++ b/src/main/java/frc/robot/commands/GratteMonte.java @@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase { // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + gratte.setenHaut(true); + } // Called every time the scheduler runs while the command is scheduled. @Override diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 3f727ef..0934180 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -5,6 +5,11 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import javax.swing.text.StyledEditorKit.BoldAction; + +import org.apache.commons.collections4.functors.IfClosure; + import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; @@ -25,8 +30,16 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") private DigitalInput limithg = new DigitalInput(Constants.limithg); private DigitalInput limitbd = new DigitalInput(Constants.limitbd); private DigitalInput limitbg = new DigitalInput(Constants.limitbg); -public boolean baiser; - + public boolean baiser; + boolean enHaut = true; + public void setenHaut(boolean enHaut){ + this.enHaut = enHaut; + } + public boolean getenHaut(){ + return enHaut; + + } + public boolean hautd(){ return limithd.get(); } @@ -35,14 +48,19 @@ public boolean baiser; return limithg.get(); } - public boolean basd(int i, String string){ + public boolean basd(){ return limitbd.get(); } public boolean basg(){ return limitbg.get(); } /** Creates a new Gratte. */ - public Gratte() {} + public Gratte() { + + } + + + public void Lever(double vitesse){ Gratted.set(vitesse); Gratteg.set(vitesse); @@ -52,18 +70,10 @@ public boolean baiser; Gratteg.set(-vitesse); } @Override - public void periodic() { - teb .add("limithd", 0.1); - teb .add("limithg", 0.1); - teb .add("limitbd", 0.1); - teb .add("limitbg", 0.1); + public void periodic(){ limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); } - -public boolean basd() { - return false; -} -} +} \ No newline at end of file From d461720da61b0b252ef524e242983c0eff377d91 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 20:05:55 -0500 Subject: [PATCH 22/25] fdvhnbm --- src/main/java/frc/robot/RobotContainer.java | 23 +----------------- .../java/frc/robot/subsystems/Gratte.java | 24 ++----------------- 2 files changed, 3 insertions(+), 44 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bfb40f7..bfc6d3b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -32,17 +32,11 @@ import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; -<<<<<<< HEAD import frc.robot.commands.bras.PivotChercheBas; import frc.robot.commands.bras.PivotChercheHaut; -import edu.wpi.first.apriltag.AprilTag; -import edu.wpi.first.math.spline.CubicHermiteSpline; import frc.robot.commands.Cube; -import frc.robot.commands.Cone; import frc.robot.commands.Tape; -======= ->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 public class RobotContainer { //CameraServer.startAutomaticCapture(); @@ -84,15 +78,11 @@ public RobotContainer() { } private void configureBindings() { -<<<<<<< HEAD // manette 1 -======= ->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); -<<<<<<< HEAD manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); manette1.leftBumper().toggleOnTrue(aprilTag); manette1.rightBumper().toggleOnTrue(tape); @@ -104,18 +94,7 @@ public RobotContainer() { manette2.povRight().onTrue(pivotChercheBas); manette2.povLeft().onTrue(pivotChercheHaut); manette2.rightBumper().toggleOnTrue(cube); - manette2.leftBumper().toggleOnTrue(cone); -======= - /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); - manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut)); - manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique)); - manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique)); - manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique)); - manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); - manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); - manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); - manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/ ->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 + manette2.leftBumper().toggleOnTrue(cone); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index df518c7..056c6da 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -3,13 +3,7 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot.subsystems; - import edu.wpi.first.wpilibj2.command.SubsystemBase; - -import javax.swing.text.StyledEditorKit.BoldAction; - -import org.apache.commons.collections4.functors.IfClosure; - import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; @@ -53,22 +47,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") public boolean basg(){ return limitbg.get(); } - /** Creates a new Gratte. */ -<<<<<<< HEAD - public Gratte() { - - } - - - -======= + public Gratte() { limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); } ->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 public void Lever(double vitesse){ Gratted.set(vitesse); Gratteg.set(vitesse); @@ -78,15 +63,10 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") Gratteg.set(-vitesse); } @Override -<<<<<<< HEAD public void periodic(){ limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); -======= - public void periodic() { - ->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 - } +} } \ No newline at end of file From 407603ab1fdb564bb2b1fc0a7b834e6980ab58e7 Mon Sep 17 00:00:00 2001 From: Olivier Demers Date: Wed, 8 Mar 2023 14:02:31 +0000 Subject: [PATCH 23/25] Deleted bin/main/frc/robot/subsystems/BasePilotable.class --- .../frc/robot/subsystems/BasePilotable.class | Bin 4945 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 bin/main/frc/robot/subsystems/BasePilotable.class diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class deleted file mode 100644 index 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public BrasTelescopique() { teb .add("photocell",0.1); teb .add("winch",0.1); - teb .add ("encodeur",0.1);} + teb .add("encodeur",0.1);} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); private DigitalInput photocell = new DigitalInput(Constants.photocell); private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);