diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class new file mode 100644 index 0000000..97e4d2e Binary files /dev/null and b/bin/main/frc/robot/subsystems/BasePilotable.class differ diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..73cc713 --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,92 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..1d8ea9a --- /dev/null +++ b/simgui.json @@ -0,0 +1,17 @@ +{ + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo" + } + }, + "NetworkTables": { + "transitory": { + "Shuffleboard": { + ".metadata": { + "open": true + }, + "open": true + } + } + } +} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1518cc8..777fea3 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -5,17 +5,23 @@ 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; public static int pistonpinceferme = 1; - public static int actuateur = 2; + public static int actuateur = 8; public static int brakedroit = 3; public static int brakegauche = 4; public static int brakewinchf = 5; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 493cfbe..83ba7b5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,6 +6,7 @@ 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; @@ -63,6 +64,23 @@ 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(() -> { diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index b628ceb..783ac65 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -13,7 +13,9 @@ 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.BuiltInLayouts; 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.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -32,6 +34,9 @@ public class BasePilotable extends SubsystemBase { private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche); //gyro ShuffleboardTab teb = Shuffleboard.getTab("teb"); + ShuffleboardLayout layout = Shuffleboard.getTab("teb") + .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList) + .withSize(2, 2); private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} public double getpitch() { return gyroscope.getPitch(); @@ -71,10 +76,6 @@ public void resetGyro(){ @Override public void periodic() { - 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); teb .add("brakedroit",0.1); teb .add("brakegauche", 0.1); diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 0332f41..e758b90 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -7,12 +7,25 @@ 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"); +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); @@ -46,9 +59,16 @@ public class Gratte extends SubsystemBase { } @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 f606459..815f1c0 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,10 +8,13 @@ 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; @@ -20,10 +23,18 @@ 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); @@ -49,7 +60,11 @@ public class BrasTelescopique extends SubsystemBase { } @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 42f5ef3..a1ef017 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,7 +14,11 @@ 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); @@ -23,7 +27,7 @@ public class Pivot extends SubsystemBase { public void monteDescendre(double vitesse) { pivot.set (vitesse); } - // encoder + // encodeur public double distance(){ return (pivot.getEncoder().getPosition()); } @@ -36,6 +40,12 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { +<<<<<<< HEAD teb .add("encodeur", 0.1); } -} \ No newline at end of file +} +======= + teb .add ("encodeur pivot",0.1); + } +} +>>>>>>> Dash