PLS5618/robot-2023
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

jgghdfn

Browse Source
This commit is contained in:
EdwardFaucher
2023-03-13 18:47:31 -04:00
parent de5b5213cb
commit 6ba1dfbb2c
19 changed files with 256 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
src/main/java/frc/robot/subsystems/BasePilotable.java
View File

@ -13,9 +13,7 @@ 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;
@ -30,23 +28,21 @@ public class BasePilotable extends SubsystemBase {
final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
//piston
private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
private DoubleSolenoid brake = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakeouvre, Constants.brakeferme);
//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();}
double pitchoffset = 0;
private AHRS gyroscope = new AHRS();
public double getpitch() {
return gyroscope.getPitch();
return -gyroscope.getPitch() + pitchoffset;
}
public void drive(double xSpeed, double zRotation){
drive.arcadeDrive(xSpeed, zRotation);
}
public double distance(){
teb .add ("distance",0.1);
return (-avantdroit.getEncoder().getPosition()
+avantgauche.getEncoder().getPosition()
-arrieredroit.getEncoder().getPosition()
@ -59,21 +55,21 @@ public class BasePilotable extends SubsystemBase {
arrieregauche.getEncoder().setPosition(0);
}
public void resetGyro(){
{gyroscope.reset();
}
pitchoffset = gyroscope.getPitch();
}
public void BrakeOuvre(){
brakedroit.set(Value.kForward);
brakegauche.set(Value.kForward);
brake.set(Value.kForward);
}
public void BrakeFerme(){
brakedroit.set(Value.kReverse);
brakegauche.set(Value.kReverse);
brake.set(Value.kReverse);
}
/** Creates a new BasePilotable. */
public BasePilotable() {
droit.setInverted(true);
teb.add(drive);
teb.addDouble("distancerobot",this::distance);
teb.addDouble("angle gyro", this::getpitch);
}
@Override

28
src/main/java/frc/robot/subsystems/Gratte.java
View File

@ -18,8 +18,8 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
.withSize(2, 2);
private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);
private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.GratteD);
private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.GratteG);
private DigitalInput limithd = new DigitalInput(Constants.limithd);
private DigitalInput limithg = new DigitalInput(Constants.limithg);
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@ -50,19 +50,25 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
}
public Gratte() {
limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1);
limitswitchgratte.addBoolean ("limitbd", this::basd);
limitswitchgratte.addBoolean ("limithg", this::hautg);
limitswitchgratte.addBoolean ("limithd", this::hautd);
limitswitchgratte.addBoolean ("limitbg", this::basg);
}
public void Lever(double vitesse){
Gratted.set(vitesse);
Gratteg.set(vitesse);
}
public void baiser(double vitesse){
public void Leverd(double vitesse){
Gratted.set(-vitesse);
}
public void Leverg(double vitesse){
Gratteg.set(-vitesse);
}
public void baiserd(double vitesse){
Gratted.set(vitesse);
}
public void baiserg(double vitesse){
Gratteg.set(vitesse);
}
@Override
public void periodic(){
}

6
src/main/java/frc/robot/subsystems/Limelight.java
View File

@ -5,8 +5,7 @@
package frc.robot.subsystems;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import org.photonvision.PhotonCamera;
import org.photonvision.common.hardware.VisionLEDMode;
@ -17,12 +16,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Limelight extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
PhotonCamera limelight = new PhotonCamera("limelight");
/** Creates a new Limelight. */
public Limelight() {
CameraServer.startAutomaticCapture();
teb .add("limelight", 0.1);
PortForwarder.add(5800, "photonvision.local", 5800);
}

12
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
View File

@ -15,24 +15,18 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
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;
public class BrasTelescopique extends SubsystemBase {
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout("layout", BuiltInLayouts.kList)
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardTab teb = Shuffleboard.getTab("teb");
/** Creates a new BrasTelescopique. */
public BrasTelescopique() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
teb .add("encodeur",0.1);
layout .addBoolean("photocell",this::photocell);
layout .addDouble("encodeur",this::distance);
}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell);

2
src/main/java/frc/robot/subsystems/bras/Pivot.java
View File

@ -38,7 +38,7 @@ public class Pivot extends SubsystemBase {
}
public boolean limitpivot(){
return limitpivot.get();
return !limitpivot.get();
}
@Override
public void periodic() {