PLS5618/robot-2023
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This commit is contained in:
Antoine PerreaultE 2023-03-07 20:03:12 -05:00
parent cd7604e30f
commit 64556db1cd
4 changed files with 51 additions and 30 deletions
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31
src/main/java/frc/robot/RobotContainer.java
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@ -18,6 +18,7 @@ import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import pabeles.concurrency.ConcurrencyOps.Reset;
import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
// command
import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
@ -35,6 +36,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux;
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.math.spline.CubicHermiteSpline;
import frc.robot.commands.Cube;
import frc.robot.commands.Cone;
import frc.robot.commands.Tape;
@ -62,6 +64,12 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, null);
public RobotContainer() {
configureBindings();
@ -71,23 +79,24 @@ public RobotContainer() {
}
private boolean configureBindings() {
private void configureBindings() {
// manette 1
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.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.rightBumper().toggleOnTrue(tape);
// manette 2
manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique));
manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
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.a().onTrue(pivoteBrasHaut);
manette2.b().onTrue(pivoteBrasBas);
manette2.x().onTrue(pivoteBrasMilieux);
manette2.y().onTrue(pivotBrasRentre);
manette2.povRight().onTrue(pivotChercheBas);
manette2.povLeft().onTrue(pivotChercheHaut);
manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone);
}
public Command getAutonomousCommand() {

8
src/main/java/frc/robot/commands/GratteBaisser.java
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@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
gratte.setenHaut(false);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
@ -41,9 +43,7 @@ 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

4
src/main/java/frc/robot/commands/GratteMonte.java
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@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
gratte.setenHaut(true);
}
// Called every time the scheduler runs while the command is scheduled.
@Override

34
src/main/java/frc/robot/subsystems/Gratte.java
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@ -5,6 +5,11 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import javax.swing.text.StyledEditorKit.BoldAction;
import org.apache.commons.collections4.functors.IfClosure;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@ -25,7 +30,15 @@ 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 baiser;
boolean enHaut = true;
public void setenHaut(boolean enHaut){
this.enHaut = enHaut;
}
public boolean getenHaut(){
return enHaut;
}
public boolean hautd(){
return limithd.get();
@ -35,14 +48,19 @@ public boolean baiser;
return limithg.get();
}
public boolean basd(int i, String string){
public boolean basd(){
return limitbd.get();
}
public boolean basg(){
return limitbg.get();
}
/** Creates a new Gratte. */
public Gratte() {}
public Gratte() {
}
public void Lever(double vitesse){
Gratted.set(vitesse);
Gratteg.set(vitesse);
@ -52,18 +70,10 @@ public boolean baiser;
Gratteg.set(-vitesse);
}
@Override
public void periodic() {
teb .add("limithd", 0.1);
teb .add("limithg", 0.1);
teb .add("limitbd", 0.1);
teb .add("limitbg", 0.1);
public void periodic(){
limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1);
}
public boolean basd() {
return false;
}
}