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

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

@@ -5,28 +5,24 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
+    public static int BrasTelescopique = 4;
+    
+    //moteur gris
     public static int leverGratte = 0;
     public static int baisserGratte = 1;
-    public static int BrasTelescopique = 5;
+
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
      public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
-    // DIO
+    // DIO Brando
     public static int limitbd = 0;
     public static int limitbg = 2;
     public static int limithd = 3;
     public static int limithg = 1;
-    
-    
-
-
-
-
-
 
     
-
 }
+  

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

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class BrakeFerme extends CommandBase {
+
+  private BasePilotable basePilotable;
+
+  /** Creates a new BrakeFerme. */
+  public BrakeFerme(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    basePilotable.BrakeFerme();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class BrakeOuvre extends CommandBase {
+
+  private BasePilotable basePilotable;
+
+  /** Creates a new BrakeFerme. */
+  public BrakeOuvre(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    basePilotable.BrakeOuvre();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class Gyro extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new Gyro. */
+  public Gyro(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  if(basePilotable.getpitch()<15) 
+   { 
+    basePilotable.drive(0.2, 0, 0);
+   }
+   else if(basePilotable.getpitch()>-15) 
+   { 
+    basePilotable.drive(-0.2, 0, 0);
+   }
+   else
+   {
+     basePilotable.drive(0, 0, 0); 
+   }
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/bras/PivoteBrasBas.java

@@ -54,7 +54,6 @@ public class PivoteBrasBas extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

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

@@ -4,11 +4,12 @@
 
 package frc.robot.subsystems;
 
+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.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.wpilibj2.command.SubsystemBase;
@@ -22,10 +23,16 @@ 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);
-  final DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
+  //piston
-  final DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
+  private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
-  
+  private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
-  public void drive(double xSpeed, double zRotation){
+  //gyro
+  private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
+   public double getpitch() {
+    return gyroscope.getPitch();
+  }
+
+  public void drive(double xSpeed, double zRotation, int i){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
@@ -40,7 +47,14 @@ public class BasePilotable extends SubsystemBase {
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
   }
-
+public void BrakeOuvre(){
+  brakedroit.set(Value.kForward);
+  brakegauche.set(Value.kForward);
+}
+public void BrakeFerme(){
+  brakedroit.set(Value.kReverse);
+  brakegauche.set(Value.kReverse);
+}
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);

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

@@ -9,8 +9,6 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.Constants;
 
-
-
 public class Gratte extends SubsystemBase {
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);