From b749483330e7a5d2922eec6dc85e041edc590779 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 20 Feb 2023 18:41:25 -0500 Subject: [PATCH 1/4] trewertytrertytrewertrewertrewertewertertrertrewertyuytrertrerererewewerewerewerttrrtrertrertrerewertrerererytrewertyuytrewqwertyuytrewq523454321234523455675434rtytrewertyuytrewertyuiuytrewq --- src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java | 3 ++- src/main/java/frc/robot/subsystems/bras/Pince.java | 4 ++-- 2 files changed, 4 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 f4f1458..3f38ebc 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,6 +8,7 @@ package frc.robot.subsystems.bras; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -27,6 +28,6 @@ public class BrasTelescopique extends SubsystemBase { @Override public void periodic() { - // This method will be called once per scheduler run + Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index a933219..2aa6540 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/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); From fb8978e66c214a94c9d4e71df8cab3664aff9fe5 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 20 Feb 2023 18:42:34 -0500 Subject: [PATCH 2/4] mh --- networktables.json | 1 + 1 file changed, 1 insertion(+) create mode 100644 networktables.json diff --git a/networktables.json b/networktables.json new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/networktables.json @@ -0,0 +1 @@ + From 392561c0e2419a56d9dfe5d46d9adc73d83be7e3 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 20 Feb 2023 19:55:47 -0500 Subject: [PATCH 3/4] nbm --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/commands/GratteMonte.java | 9 +++++---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3110ddd..9fc957a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -69,7 +69,7 @@ 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)); } diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java index 522deff..b460277 100644 --- a/src/main/java/frc/robot/commands/GratteMonte.java +++ b/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; - } } + } \ No newline at end of file From d4a47ec15798b8975731ed3415c1e9dc7cf787e6 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 20 Feb 2023 19:57:40 -0500 Subject: [PATCH 4/4] yrfjchn --- src/main/java/frc/robot/subsystems/BasePilotable.java | 11 +++++++++-- src/main/java/frc/robot/subsystems/bras/Pivot.java | 5 +++-- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 220799e..4243b3c 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/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(); @@ -63,7 +67,10 @@ public void BrakeFerme(){ @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); } } diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index e8d5dbb..d9166ec 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -4,6 +4,7 @@ package frc.robot.subsystems.bras; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; @@ -26,6 +27,6 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { - // This method will be called once per scheduler run - } + Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1); + } }