From 8c1eb669ab217ed2ecc565af10c3d40dc83ebdc1 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 17:56:37 -0500 Subject: [PATCH 1/5] 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 07ce25107ad6f3cc1fcdfcb9ab16bf4e94786019 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 17:58:08 -0500 Subject: [PATCH 2/5] 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 3/5] 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 4/5] 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 5/5] 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;