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

networktables.json

@@ -0,0 +1 @@
+

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

@@ -76,7 +76,7 @@ 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);
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette1.b().toggleOnTrue(Commands.startEnd());
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
 
   }

src/main/java/frc/robot/commands/GratteMonte.java

@@ -4,6 +4,8 @@
 
 package frc.robot.commands;
 
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+import frc.robot.Constants;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
@@ -24,7 +26,7 @@ public class GratteMonte extends CommandBase {
   @Override
   public void execute() {
     if(gratte.hautd()){
-      gratte.Lever(0);
+      gratte.Lever(0.5);
     }
     else{
       gratte.Lever(0.5);
@@ -43,8 +45,7 @@ public class GratteMonte extends CommandBase {
 
   // Returns true when the command should end.
   @Override
-  public boolean isFinished() {
-
+  public boolean isFinished(){
     return false;
-  }
 }
+  }

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

@@ -13,6 +13,8 @@ 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.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -24,10 +26,12 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
+  
   //piston
   private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -67,7 +71,10 @@ public void resetGyro(){
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
-    
+    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);
   }
 }

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

@@ -8,7 +8,10 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
+=======
+>>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -32,6 +35,10 @@ public class BrasTelescopique extends SubsystemBase {
   }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
+=======
+    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+>>>>>>> Dash
   }
 }

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

@@ -15,8 +15,8 @@ public class Pince extends SubsystemBase {
   /** Creates a new Pince. */
   public Pince() {
   }
-public void fermer() {
-     pistonPince.set(Value.kReverse);
+  public void fermer() {
+   pistonPince.set(Value.kReverse);
    }
    public void ouvrir() {
      pistonPince.set(Value.kForward);

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

@@ -4,7 +4,10 @@
 
 package frc.robot.subsystems.bras;
 
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
+=======
+>>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -34,6 +37,11 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
   }
+=======
+    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+ }
+>>>>>>> Dash
 }