Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,17 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "Shuffleboard": {
+        ".metadata": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -10,12 +10,13 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
+    public static int baiserGratte = 1;
     public static int baisserGratte = 1;
 
     // 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;
      public static int brakewinchf = 5;

src/main/java/frc/robot/RobotContainer.java

@@ -3,12 +3,21 @@
 // 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.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
+//subsystems
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Gratte;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
+import frc.robot.subsystems.Limelight;
+import frc.robot.commands.Apriltag;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
@@ -25,30 +34,42 @@ import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 //subsystems
 import frc.robot.subsystems.BasePilotable;
+import frc.robot.commands.bras.PivotChercheBas;
+import frc.robot.commands.bras.PivotChercheHaut;
+import frc.robot.commands.Cube;
+import frc.robot.commands.Tape;
+
 
 public class RobotContainer {
+//CameraServer.startAutomaticCapture();
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
-/*Gratte gratte = new Gratte();
+Gratte gratte = new Gratte();
 BrasTelescopique brasTelescopique = new BrasTelescopique();
 Pince pince = new Pince();
 Pivot pivot = new Pivot();
 Limelight limelight = new Limelight();/** */
 //commands
-//BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
+BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
-//BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
+BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
-//GratteBaisser gratteBaisser = new GratteBaisser(gratte);
+GratteBaisser gratteBaisser = new GratteBaisser(gratte);
-//GratteMonte gratteMonte = new GratteMonte(gratte);
+GratteMonte gratteMonte = new GratteMonte(gratte);
 Gyro gyro = new Gyro(basePilotable);
-/*FermePince fermePince = new FermePince(pince);
+FermePince fermePince = new FermePince(pince);
 OuvrePince ouvrePince = new OuvrePince(pince);
 PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
 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());**/
+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();
   }
@@ -57,20 +78,23 @@ public RobotContainer() {
     basePilotable.setDefaultCommand(new RunCommand(() -> {
       basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
     },basePilotable));
-    //manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
+    // manette 1
+    manette1.povDown().onTrue(pivoteBrasHaut);
+    manette1.povUp().onTrue(pivoteBrasBas);
+    manette1.povLeft().onTrue(pivoteBrasMilieux);
+    manette1.povRight().onTrue(pivotBrasRentre);
+    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().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
-    // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette1.leftBumper().toggleOnTrue(cube);
-    manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
+    manette1.rightBumper().toggleOnTrue(cone);
-   /** manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    // manette 2
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
+    manette2.y().whileTrue(gyro);
-    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
+    manette2.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
+    manette2.povRight().onTrue(pivotChercheBas);
-    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
+    manette2.povLeft().onTrue(pivotChercheHaut);
-    manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
+    manette2.rightBumper().toggleOnTrue(aprilTag);
-    manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));*/
+    manette2.leftBumper().toggleOnTrue(tape);
-   // manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-   // manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
   }
 
   public Command getAutonomousCommand() {

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

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

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);
@@ -25,11 +30,19 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>4) 
    { 
+<<<<<<< HEAD
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+=======
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+   }
+   else if(basePilotable.getpitch()<-4) 
+   { 
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+>>>>>>> 3d2364b54822fb53a6cd71a0347d11baeef62001
    }
    else
    {

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;
@@ -61,12 +60,12 @@ 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);
+    teb .addDouble("distance", this::distance);
   }
 
   @Override
@@ -78,5 +77,6 @@ public void resetGyro(){
     //teb .add("distance",0.1);
     //teb .add("brakedroit",0.1);
     //teb .add("brakegauche", 0.1);
+
   }
 }

src/main/java/frc/robot/subsystems/Gratte.java

@@ -3,22 +3,35 @@
 // the WPILib BSD license file in the root directory of this project.
 
 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;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+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 limitswitchgratte = 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 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);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+  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();
@@ -34,8 +47,13 @@ public class Gratte extends SubsystemBase {
   public boolean basg(){
     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);
@@ -46,9 +64,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic(){
-    teb .add("limithd", 0.1);
+    limitswitchgratte.add ("limitbd", 0.1);
-    teb .add("limithg", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
-    teb .add("limitbd", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
-    teb .add("limitbg", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
 }
 }

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);
   }
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -20,7 +20,10 @@ import frc.robot.Constants;
 public class BrasTelescopique extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");  
   /** Creates a new BrasTelescopique. */
-  public BrasTelescopique() {}
+  public BrasTelescopique() {
+    teb .add("photocell",0.1);
+    teb .add("winch",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);
@@ -44,9 +47,6 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-    teb .add("``photocell``",0.1);
-    teb .add("winch",0.1);
-  }
-
     
   }
+}

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -15,6 +15,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -23,7 +24,11 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
-  // encoder
+  public Pivot(){
+    teb .add ("encodeurpivot",0.1);
+    teb .add ("limitpivot",0.1);
+  }
+  // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
   }
@@ -36,6 +41,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    teb .add("encodeur", 0.1);
   }
 }  
+