PLS5618/robot-2023
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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
2023-03-20 18:05:13 -04:00
parent 0e72ebe049 1da5d821c3
commit 7a13a0f703
1 changed files with 25 additions and 16 deletions
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41
src/main/java/frc/robot/RobotContainer.java
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@@ -65,9 +65,9 @@ ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",Buil
.withSize(2, 2).withProperties(Map.of("Label position","LEFT")); .withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",-66).getEntry(); GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry(); GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer",-35).getEntry(); GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
// subsystems // subsystems
BasePilotable basePilotable = new BasePilotable(); BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte(); Gratte gratte = new Gratte();
@@ -93,15 +93,24 @@ Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0))
Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0)); Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot); PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot); PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
Cube cube = new Cube(limelight, basePilotable, ()-> manette1.getLeftY()); Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable,()-> manette1.getLeftY()); Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, ()-> manette1.getLeftY()); Tape tape = new Tape(limelight, basePilotable, null);
PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX); PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY); BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
SendableChooser<String> chooser = new SendableChooser<>();
String enhaut = "en bas";
String aumilieux = "au milieux";
String enbas = "en bas";
String nulpart = "nul part";
ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",BuiltInLayouts.kList)
.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 sorit",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
public RobotContainer() { public RobotContainer() {
chooser.setDefaultOption(enhaut, enhaut); chooser.addOption(enhaut, enhaut);
chooser.addOption(enbas, enbas); chooser.addOption(enbas, enbas);
chooser.addOption(aumilieux, aumilieux); chooser.addOption(aumilieux, aumilieux);
chooser.addOption(nulpart, nulpart); chooser.addOption(nulpart, nulpart);
@@ -117,10 +126,9 @@ public RobotContainer() {
private void configureBindings() { private void configureBindings() {
// manette 1 // manette 1
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().onTrue(brakeOuvre); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
manette1.b().onTrue(brakeFerme); manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.leftBumper().whileTrue(aprilTag); manette1.rightBumper().toggleOnTrue(tape);
manette1.rightBumper().whileTrue(tape);
manette1.povUp().whileTrue(pivoteBrasHaut); manette1.povUp().whileTrue(pivoteBrasHaut);
manette1.povDown().whileTrue(pivoteBrasBas); manette1.povDown().whileTrue(pivoteBrasBas);
manette1.povRight().whileTrue(pivoteBrasMilieux); manette1.povRight().whileTrue(pivoteBrasMilieux);
@@ -128,18 +136,19 @@ public RobotContainer() {
//manette 2 //manette 2
manette2.povDown().onTrue(pivotChercheBas); manette2.povDown().onTrue(pivotChercheBas);
manette2.povUp().onTrue(pivotChercheHaut); manette2.povUp().onTrue(pivotChercheHaut);
manette2.rightBumper().whileTrue(cube); manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().whileTrue(cone); manette2.leftBumper().toggleOnTrue(cone);
manette2.y().whileTrue(gyro); manette2.y().whileTrue(gyro);
manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro)); manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
manette2.a().whileTrue(gratteMonte); manette2.a().whileTrue(gratteMonte);
manette2.b().whileTrue(gratteBaisser); manette2.b().whileTrue(gratteBaisser);
manette2.back().onTrue(new InstantCommand(basePilotable::Reset));
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return Commands.waitSeconds(14).deadlineWith( new SequentialCommandGroup( chooser.getSelected();
autobalance.getBoolean(true);
return new SequentialCommandGroup(
Commands.select(Map.ofEntries( Commands.select(Map.ofEntries(
Map.entry(enhaut,pivoteBrasHaut), Map.entry(enhaut,pivoteBrasHaut),
Map.entry(aumilieux,pivoteBrasMilieux), Map.entry(aumilieux,pivoteBrasMilieux),
@@ -154,7 +163,7 @@ public RobotContainer() {
Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)), Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
new Avancer(basePilotable,()-> avancerdistance.getDouble(0)).unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)), new Avancer(basePilotable,()-> avancerdistance.getDouble(0)).unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)) Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
)).andThen(new InstantCommand(basePilotable::BrakeOuvre,basePilotable)); ).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
} }