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

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This commit is contained in:
Antoine PerreaultE
2023-05-10 18:39:21 -04:00
parent 93689cc6cf a73b9c7374
commit 2878aed085
10 changed files with 52 additions and 27 deletions
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37
src/main/java/frc/robot/RobotContainer.java
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@@ -12,10 +12,12 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -39,6 +41,7 @@ import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
import frc.robot.commands.Reculer;
import frc.robot.commands.Tape;
import frc.robot.commands.bras.BrasManuel;
import frc.robot.commands.bras.DescendrePivotBras;
import frc.robot.commands.bras.FermePince;
@@ -46,6 +49,7 @@ import frc.robot.commands.bras.MonterPivotBras;
import frc.robot.commands.bras.OuvrePince;
import frc.robot.commands.bras.PivotManuel;
import frc.robot.commands.ActiverLimeLight;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
@@ -61,9 +65,12 @@ public class RobotContainer {
.withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
GenericEntry autobalance = layoutauto.add("choix balance", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry autosortir = layoutauto.add("choix sortir", false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", 0).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 0).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculer distance sortir", -66).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculer distance balance", -31).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
GenericEntry avancerforce = layoutauto.addPersistent("avancer force", 0.4).getEntry();
GenericEntry reculerforce = layoutauto.addPersistent("reculer force", -0.45).getEntry();
GenericEntry gyroforce = layoutauto.addPersistent("gyro force", 0.3).getEntry();
// subsystems
BasePilotable basePilotable = new BasePilotable();
@@ -78,13 +85,13 @@ public class RobotContainer {
BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
GratteBaisser gratteBaisser = new GratteBaisser(gratte);
GratteMonte gratteMonte = new GratteMonte(gratte);
Gyro gyro = new Gyro(basePilotable);
Gyro gyro = new Gyro(basePilotable, () -> gyroforce.getDouble(0));
FermePince fermePince = new FermePince(pince);
OuvrePince ouvrePince = new OuvrePince(pince);
Cone cone = new Cone(limelight, basePilotable, () -> -manette1.getLeftY());
Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0));
Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0));
Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0));
Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0), () -> reculerforce.getDouble(0));
Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0), () -> reculerforce.getDouble(0));
Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0), () -> avancerforce.getDouble(0));
Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
@@ -146,16 +153,20 @@ public class RobotContainer {
new SequentialCommandGroup(
Commands.select(Map.ofEntries(
Map.entry(enhaut, creerCommandBras(51, -40)),
Map.entry(aumilieux, creerCommandBras(9, -14)),
Map.entry(enbas, creerCommandBras(44, -17)),
Map.entry(aumilieux, creerCommandBras(45, -13)),
Map.entry(enbas, creerCommandBras(12, -9)),
Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
// creerCommandBras(50, -40).unless(() ->
// !chooser.getSelected().equals(enhaut)),
// creerCommandBras(51, -40).unless(() ->
// !chooser.getSelected().equals(enhaut)),
new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1),
new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1),
Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)),
new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
new ParallelCommandGroup(creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true))),
new Avancer(basePilotable, () -> avancerdistance.getDouble(0), () -> avancerforce.getDouble(0))
.unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
.andThen(brakeOuvre);

6
src/main/java/frc/robot/commands/Avancer.java
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@@ -13,10 +13,12 @@ import frc.robot.subsystems.BasePilotable;
public class Avancer extends CommandBase {
BasePilotable basePilotable;
DoubleSupplier distance;
DoubleSupplier force;
/** Creates a new Reculer. */
public Avancer(BasePilotable basePilotable, DoubleSupplier distance) {
public Avancer(BasePilotable basePilotable, DoubleSupplier distance, DoubleSupplier force) {
this.basePilotable = basePilotable;
this.distance = distance;
this.force = force;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
}
@@ -30,7 +32,7 @@ public class Avancer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(0.4,0);
basePilotable.drive(force.getAsDouble(),0);
}
// Called once the command ends or is interrupted.

1
src/main/java/frc/robot/commands/GratteMonte.java
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@@ -5,6 +5,7 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Gratte;

11
src/main/java/frc/robot/commands/Gyro.java
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@@ -4,14 +4,19 @@
package frc.robot.commands;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable;
public class Gyro extends CommandBase {
private BasePilotable basePilotable;
DoubleSupplier force;
/** Creates a new Gyro. */
public Gyro(BasePilotable basePilotable) {
public Gyro(BasePilotable basePilotable,DoubleSupplier force) {
this.basePilotable = basePilotable;
this.force = force;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
}
@@ -25,11 +30,11 @@ public class Gyro extends CommandBase {
public void execute() {
if(basePilotable.getpitch()>6)
{
basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
basePilotable.drive(force.getAsDouble()*basePilotable.getpitch()/12, 0);
}
else if(basePilotable.getpitch()<-6)
{
basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
basePilotable.drive(force.getAsDouble()*basePilotable.getpitch()/12, 0);
}
else
{

6
src/main/java/frc/robot/commands/Reculer.java
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@@ -13,10 +13,12 @@ import frc.robot.subsystems.BasePilotable;
public class Reculer extends CommandBase {
BasePilotable basePilotable;
DoubleSupplier distance;
DoubleSupplier force;
/** Creates a new Reculer. */
public Reculer(BasePilotable basePilotable, DoubleSupplier distance) {
public Reculer(BasePilotable basePilotable, DoubleSupplier distance,DoubleSupplier force) {
this.basePilotable = basePilotable;
this.distance = distance;
this.force = force;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
}
@@ -30,7 +32,7 @@ public class Reculer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(-0.4,0);
basePilotable.drive(force.getAsDouble(),0);
}
// Called once the command ends or is interrupted.

6
src/main/java/frc/robot/commands/bras/Bougerbras.java
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@@ -11,9 +11,11 @@ public class Bougerbras extends CommandBase {
/** Creates a new bougerbras. */
double distance;
BrasTelescopique brasTelescopique;
public Bougerbras(BrasTelescopique brasTelescopique,double distance) {
this.brasTelescopique = brasTelescopique;
this.distance = distance;
addRequirements(brasTelescopique);
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -28,11 +30,11 @@ public class Bougerbras extends CommandBase {
@Override
public void execute() {
if(brasTelescopique.distance()>distance+0.5 ) {
brasTelescopique.AvanceRecule(-0.3);
brasTelescopique.AvanceRecule(-0.35);
}
else if(brasTelescopique.distance()<distance-0.5) {
brasTelescopique.AvanceRecule(0.3);
brasTelescopique.AvanceRecule(0.35);
}
else {
brasTelescopique.AvanceRecule(0);

1
src/main/java/frc/robot/commands/bras/Bougerpivot.java
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@@ -15,6 +15,7 @@ public class Bougerpivot extends CommandBase {
this.pivot = pivot;
this.distance = distance;
addRequirements(pivot);
// Use addRequirements() here to declare subsystem dependencies.
}

1
src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
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@@ -4,7 +4,6 @@
package frc.robot.commands.bras;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pivot;

1
src/main/java/frc/robot/commands/bras/MonterPivotBras.java
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@@ -5,6 +5,7 @@
package frc.robot.commands.bras;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.subsystems.bras.BrasTelescopique;

3
src/main/java/frc/robot/subsystems/BasePilotable.java
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@@ -17,7 +17,7 @@ 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;
import frc.robot.commands.bras.Bougerbras;
public class BasePilotable extends SubsystemBase {
final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
@@ -74,6 +74,7 @@ public void BrakeFerme(){
teb.add(drive);
teb.addDouble("distancerobot",this::distance);
teb.addDouble("angle gyro", this::getpitch);
}
@Override