From bf8ee48d486b2e95537806a4b493455fab1832c5 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 15 Feb 2023 19:18:18 -0500 Subject: [PATCH 01/19] gcvhbjn --- src/main/java/frc/robot/RobotContainer.java | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 390c2a1..8b66343 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -9,7 +9,9 @@ import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import edu.wpi.first.wpilibj2.command.button.Trigger; //subsystems import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.Gratte; @@ -57,14 +59,19 @@ public RobotContainer() { configureBindings(); basePilotable.setDefaultCommand(brakeOuvre); - basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis(), basePilotable); + basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis()); } private void configureBindings() { + XboxController exampleController = new XboxController(2); + Trigger aButton = new JoystickButton(exampleController, XboxController.Button.kY.value); + + + + + - JoystickButton buttonA = new JoystickButton(manette1, XboxController.Button.kA.value); - buttonA.whenPressed() } public Command getAutonomousCommand() { From 0f1f54cd797ef7ac45f4bad87990bbcd962accc0 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Feb 2023 19:18:42 -0500 Subject: [PATCH 02/19] b gnv --- src/main/java/frc/robot/RobotContainer.java | 2 + src/main/java/frc/robot/commands/Reculer.java | 41 +++++++++++++++++++ 2 files changed, 43 insertions(+) create mode 100644 src/main/java/frc/robot/commands/Reculer.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a7c9738..5fe595c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; //subsystems import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.Gratte; @@ -63,5 +64,6 @@ public RobotContainer() { public Command getAutonomousCommand() { return Commands.print("No autonomous command configured"); + } } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java new file mode 100644 index 0000000..d7c8c67 --- /dev/null +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -0,0 +1,41 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.BasePilotable; + +public class Reculer extends CommandBase { + BasePilotable basePilotable; + /** Creates a new Reculer. */ + public Reculer(BasePilotable basePilotable) { + this.basePilotable = basePilotable; + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(basePilotable); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + basePilotable.Reset(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + basePilotable.drive(0.2, 0, 10, basePilotable); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From 74e884d4ac37317098b36a2759a285717a884264 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Feb 2023 19:19:41 -0500 Subject: [PATCH 03/19] dgbfb --- .../frc/robot/subsystems/BasePilotable.class | Bin 3529 -> 3591 bytes .../frc/robot/subsystems/BasePilotable.java | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index 20fa95de559406b9cb9fb8c40403e23dadb6ccea..4fa115f0f2e85cfa728212880d73812a328be609 100644 GIT binary patch delta 1111 zcmZ`&Yf}?f7=8}B*-bVF8>>JCW)RyMAdE6)5KW=VJvdN{L7_2f31Ni3c{5elfF?eV*q%@3ZH5&+dzg#Y*Gl z>K{)5?7=U;8|R8NZ*5msSO1b{2Wt^mi{|Q!N5hsm5S>ce;n69R!8sPS>~JDty1=l9 z!vW2J4=p<06Sc~Ar4{dsK4rISKiYM)F;s~YN>zZP10@XZanl}1T2VWiOvwH&4jr0A zJsi#)>g8}j)7m_=Df%%u0;Xl!3`%X?kQ@7PkmExPi2sz1&4V0oz~jOZ4C@$T@QP>Z zJK|SWb8viwpg5zpY9SogaZEf_>y#7tSp2KD#=;z%;bAa3QsGIn$4td3%@K@omU;QpwSz-O!m#$eGxd97mji9dIFu zX&tA;HAkb8f+e0i+MPapB0XlrCT;JI7(SKZTSy=4iH*rF7}=a(rUd^_=0If(@11t zXV9D%P8WpEyzp5;=*|mY6a+sBvq9QSv-&5_1{FfxgIS!B!UaFh=__Cwy3DM ze}D!<3M{SiQT+p-eDEiDvFs)ZJXtkUea^YdoZH+yW2kK^r36Pb)Z-}47ENJI8p08wM++=6j?po3x6q0< z`avw#x1&SGae`DjDW>W)oIoc{))kkZ)UX8+1gdGMyWdt}8ya95)x>d6v;ky9z%3Z zR~A+PH?O-uus@@^E|9QwXQqWW8sQTUvhyoi@P%Ju+562 zP9=)@y@&g>Mk$K5V~+2qLq$6%FMdR@H&E8zS55aiHrYIIKSGV)h&kYL3438oqc9%om@Z<3_3ljSCV8htoz{EPyt2WLDO z@WJIpZa^3g3Z{T?F({Y=!sVb)!Guw6Em!=4F{{9kx!H#aFQ$SKlh_#yRro{GER@BI zrrA5?!;BXhOloIdZhP>6Jw812qH$B3_h5cq>tb5G)rTiu#PVWs8BeJ-)FQk-jH?RZxj_YW!8_=Ere diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 4ed9d06..2156046 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase { return gyroscope.getPitch(); } - public void drive(double xSpeed, double zRotation, double d){ + public void drive(double xSpeed, double zRotation, double d, BasePilotable basePilotable){ drive.arcadeDrive(xSpeed, zRotation); } public double distance(){ From 9b625fba889aab5fe3408ea0c1e8b7e089e24fbc Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Feb 2023 19:20:58 -0500 Subject: [PATCH 04/19] dtshj --- .../frc/robot/subsystems/BasePilotable.class | Bin 3591 -> 3529 bytes .../frc/robot/subsystems/BasePilotable.java | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index 4fa115f0f2e85cfa728212880d73812a328be609..20fa95de559406b9cb9fb8c40403e23dadb6ccea 100644 GIT binary patch delta 1069 zcmZ`&*-{fh6g|yMW+szi5m|~|OArVpZmfa`A+n2X27(A8M2v)>B!UaFh=__Cwy3DM ze}D!<3M{SiQT+p-eDEiDvFs)ZJXtkUea^YdoZH+yW2kK^r36Pb)Z-}47ENJI8p08wM++=6j?po3x6q0< z`avw#x1&SGae`DjDW>W)oIoc{))kkZ)UX8+1gdGMyWdt}8ya95)x>d6v;ky9z%3Z zR~A+PH?O-uus@@^E|9QwXQqWW8sQTUvhyoi@P%Ju+562 zP9=)@y@&g>Mk$K5V~+2qLq$6%FMdR@H&E8zS55aiHrYIIKSGV)h&kYL3438oqc9%om@Z<3_3ljSCV8htoz{EPyt2WLDO z@WJIpZa^3g3Z{T?F({Y=!sVb)!Guw6Em!=4F{{9kx!H#aFQ$SKlh_#yRro{GER@BI zrrA5?!;BXhOloIdZhP>6Jw812qH$B3_h5cq>tb5G)rTiu#PVWs8BeJ-)FQk-jH?RZxj_YW!8_=Ere delta 1111 zcmZ`&Yf}?f7=8}B*-bVF8>>JCW)RyMAdE6)5KW=VJvdN{L7_2f31Ni3c{5elfF?eV*q%@3ZH5&+dzg#Y*Gl z>K{)5?7=U;8|R8NZ*5msSO1b{2Wt^mi{|Q!N5hsm5S>ce;n69R!8sPS>~JDty1=l9 z!vW2J4=p<06Sc~Ar4{dsK4rISKiYM)F;s~YN>zZP10@XZanl}1T2VWiOvwH&4jr0A zJsi#)>g8}j)7m_=Df%%u0;Xl!3`%X?kQ@7PkmExPi2sz1&4V0oz~jOZ4C@$T@QP>Z zJK|SWb8viwpg5zpY9SogaZEf_>y#7tSp2KD#=;z%;bAa3QsGIn$4td3%@K@omU;QpwSz-O!m#$eGxd97mji9dIFu zX&tA;HAkb8f+e0i+MPapB0XlrCT;JI7(SKZTSy=4iH*rF7}=a(rUd^_=0If(@11t zXV9D%P8WpEyzp5;=*|mY6a+sBvq9QSv-&5_1{FfxgIS! Date: Wed, 15 Feb 2023 19:25:28 -0500 Subject: [PATCH 05/19] hgn --- src/main/java/frc/robot/commands/Reculer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java index d7c8c67..ce9aecf 100644 --- a/src/main/java/frc/robot/commands/Reculer.java +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -26,7 +26,7 @@ public class Reculer extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(0.2, 0, 10, basePilotable); + basePilotable.drive(0.2, 0, 0); } // Called once the command ends or is interrupted. From 9536969fcefe11becda219b92838d085aa6222a0 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Feb 2023 19:35:25 -0500 Subject: [PATCH 06/19] b v --- src/main/java/frc/robot/RobotContainer.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0315ac8..4a5236f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -33,6 +33,7 @@ import frc.robot.commands.BrakeOuvre; import frc.robot.commands.GratteBaisser; import frc.robot.commands.GratteMonte; import frc.robot.commands.Gyro; +import frc.robot.commands.Reculer; import frc.robot.commands.bras.FermePince; import frc.robot.commands.bras.OuvrePince; import frc.robot.commands.bras.PivotBrasRentre; @@ -84,6 +85,11 @@ public RobotContainer() { public Command getAutonomousCommand() { return Commands.print("No autonomous command configured"); - + return new SequentialCommandGroup( + new PivoteBrasMilieux(brasTelescopique, pivot), + new OuvrePince(pince), + new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), + new Gyro(basePilotable) + ); } } From 8574a8e5bf272570ced532a2cea12cf3127c73f8 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 15 Feb 2023 19:36:00 -0500 Subject: [PATCH 07/19] fas --- src/main/java/frc/robot/RobotContainer.java | 17 +++++------------ 1 file changed, 5 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0315ac8..017cf52 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -9,17 +9,11 @@ import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; -<<<<<<< HEAD import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.Trigger; -======= -<<<<<<< HEAD import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -======= import edu.wpi.first.wpilibj2.command.button.JoystickButton; ->>>>>>> ded3f6018fe8a2c8b719139889c406330ff44003 ->>>>>>> f1d0e3b3526aaeeafab0416ba8e92344786ea73c //subsystems import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.Gratte; @@ -66,15 +60,14 @@ PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); public RobotContainer() { configureBindings(); - basePilotable.setDefaultCommand(brakeOuvre); - basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis()); + basePilotable.setDefaultCommand(new RunCommand(() -> { + basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX()); + },basePilotable)); + } - private void configureBindings() { - XboxController exampleController = new XboxController(2); - Trigger aButton = new JoystickButton(exampleController, XboxController.Button.kY.value); - + From d108076593d1b9c1b02d4a7bf088f3a42345485e Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 15 Feb 2023 19:38:45 -0500 Subject: [PATCH 08/19] fix drive --- src/main/java/frc/robot/RobotContainer.java | 1 - src/main/java/frc/robot/commands/Gyro.java | 6 +++--- src/main/java/frc/robot/commands/Reculer.java | 2 +- src/main/java/frc/robot/subsystems/BasePilotable.java | 2 +- 4 files changed, 5 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 21dff0b..53f9f6d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -77,7 +77,6 @@ public RobotContainer() { } public Command getAutonomousCommand() { - return Commands.print("No autonomous command configured"); return new SequentialCommandGroup( new PivoteBrasMilieux(brasTelescopique, pivot), new OuvrePince(pince), diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index 8492e0d..dcb7893 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -25,15 +25,15 @@ public class Gyro extends CommandBase { public void execute() { if(basePilotable.getpitch()<10) { - basePilotable.drive(0.4, 0, 0); + basePilotable.drive(0.4, 0); } else if(basePilotable.getpitch()>-10) { - basePilotable.drive(-0.4, 0, 0); + basePilotable.drive(-0.4, 0); } else { - basePilotable.drive(0, 0, 0); + basePilotable.drive(0, 0); } } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java index ce9aecf..6485bd0 100644 --- a/src/main/java/frc/robot/commands/Reculer.java +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -26,7 +26,7 @@ public class Reculer extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(0.2, 0, 0); + basePilotable.drive(0.2, 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 4ed9d06..272c321 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase { return gyroscope.getPitch(); } - public void drive(double xSpeed, double zRotation, double d){ + public void drive(double xSpeed, double zRotation){ drive.arcadeDrive(xSpeed, zRotation); } public double distance(){ From 14870e51a3229da800c3fbf87b39443ee29f5f49 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 15 Feb 2023 19:40:02 -0500 Subject: [PATCH 09/19] ghmj n --- .gitlab-ci.yml | 14 -------------- .../frc/robot/subsystems/BasePilotable.class | Bin 3529 -> 1904 bytes src/main/java/frc/robot/Robot.java | 4 +++- .../java/frc/robot/subsystems/Gratte.java | 8 +++++--- .../java/frc/robot/subsystems/Limelight.java | 5 ++++- 5 files changed, 12 insertions(+), 19 deletions(-) delete mode 100644 .gitlab-ci.yml diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml deleted file mode 100644 index b325967..0000000 --- a/.gitlab-ci.yml +++ /dev/null @@ -1,14 +0,0 @@ -default: - image: gradle:jdk11 - tags: - - robot - -stages: # List of stages for jobs, and their order of execution - - build - -build-job: # This job runs in the build stage, which runs first. - stage: build - script: - - chmod +x gradlew - - ./gradlew build - diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index a1ecf8d0e5dc7b0fe12ec67cf110faf2ead1688a..3edf4ca76811c71583152632750a183fb4d896a2 100644 GIT binary patch literal 1904 zcmeHHZBNud5S~R|?#dxAiui^UL^u>~6Ez`n#$O{n)^OC@9webh7X_N@tTWiNyqai|m5C;xdN2w+V%rvCS{9~p>>gSikrXw_g z<;K5NmG=}0<93ihwO)Ul7Ako{W1}us7&+vcqkOPm3|Kqqz~9A*!cf=Q<0{}KctptO z%e&RsZuzLgZ4pFL85`NvGA-6n8)-SCZI^|iG`7R--rTJ6Wl`Hmo7qX;|NpmL9Sk%F z+;+s3ke+aHrA-+tm+y&8Tz~z5YN;e)5l{;F=dxf5Mqm_AQ!tj>Qf|w+wO~ApS8_W6 zSJ5AWNz6&@bZ%$h8v12Kz7Dhay@B3StU}OQ-(c?J%&jkQ=SP;afZx$9vH&)oE8SPf zYY9C9_Xj|*3lSz@8F6|X(hmD`ST00(FaU?uLWC7qy}*H7%3-4rp*jG?(idc)z0CGAg1;nCV%wz%tLNZMarZ{%m z_7pdlb}zV|KJF^VR9EjYOxsh_rXE3+gq?aOr%YxIWyo+`PpnKMJ-S!X?D28c$|!w# zVIe9ZrcS7qmvL;vldwL;Q;MTc_;w75(#Sd$yz5mgm@}(k(WLU}Ne|r(@@`G*~@HnK40|N*QGtho6J_#$%VtZr&_}%k5RPy~z|P0i?j zg(NJX_J#pkIp3Gn^^63GNsC_WC8j;YwzxO=>!M#7!)0nUKbZ$)EI@S(EohD4P?*dz z$dz#zPZ9~NOuMDA8jgf5@rJv=-m9B5IiZJ#T5IqWjz-WXVZ;2sn0HjhF;T7>TIjJ| zL-;MSm6Q=dwODn?SQxC1%ZQ@7x~-PI&3}x)S9f(bAJH-(ES`{Y5PCVZ^J zb|zJaHQD(#&8zTNAMhB_#ifAynq)Ozn=vq{xFsTP^vN>Lv20*9lA5l1e`)f zh8~2`t54{Tn0D2N4a@M3#88P58AC`#F$yz+F$v3x4Z}GkfabXZV@*+5$VOlj?DJ7D zXF8_r$rP=aTm4Dae<8~xz61g-Hg?R(xg)0TvMrUnFn3QC%w!8Z;b>06zIfL|N{j4_ zVp4#RQH$IQC|#oaPUi?-ld$*Ug=4scH$+HpN-)b6`(D;t&z3>R zJ%s|Kyd@)s8qtt%%aBnc2HCs9nfD}&J(4qz>dObX8o`HUyRyg9bK@LFn%iw>a-8ly zpgzJi36Vs9Z+lOoyL?lY5^fa$_(Y6^CefasiJ(81u%}$mC3ST9x4 zn48Z0Mq7?9yBJhGodM!}Ml@hG=^8ZBxj4hwfqkS+qz6cgS!*c-{WMZx&@Nq_>(Jtx z=&r=+(4*o`xK!K;pTb=+M=KaB_%K-v1?!lPM&{ulvr)={X9^Bn%O-%HDVy1bH(z-%a>2gZ7f>N=Xuk;|5wovJzl1h2E1*wv@ap;Rw-EN%4 zaN}QS8JvPKh4ERq(`XJE6M04=WSq}4+C#?0JfoA0OM?uyx$1AcI#|h7d*3WxpT_0< zmqg)9XYl0;zw8h)SNOX;i+83GC+jR-d4CEY^ZzV9oknkwcYO-iecn0p)(p<#%W13> z!c{Z)s+fvq;s|`+RrwuRM78Hg(GuPcDqoA w@A4@l0!5GVS2Pqfb8?QL6be@0dmgR85BQOEDOVPL!Y^&B`2;zO8*Quq2V@CzF8}}l diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b68462c..50229b4 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -4,7 +4,10 @@ package frc.robot; + import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; + import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -35,7 +38,6 @@ public class Robot extends TimedRobot { @Override public void autonomousInit() { m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); } diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index e7e1cb6..72b98ba 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -12,8 +12,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; - - +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import frc.robot.Constants; @@ -51,6 +50,9 @@ public class Gratte extends SubsystemBase { } @Override public void periodic() { - // This method will be called once per scheduler run + Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1); + Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1); + Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1); + Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1); } } diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java index befd637..d97c1ac 100644 --- a/src/main/java/frc/robot/subsystems/Limelight.java +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -4,6 +4,8 @@ package frc.robot.subsystems; +import edu.wpi.first.cameraserver.CameraServer; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Limelight extends SubsystemBase { @@ -12,6 +14,7 @@ public class Limelight extends SubsystemBase { @Override public void periodic() { - // This method will be called once per scheduler run + CameraServer.startAutomaticCapture(); + Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1); } } From b4d38706eeaa9fbcb6495434c8bab5caba8dd6b4 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 15 Feb 2023 19:40:33 -0500 Subject: [PATCH 10/19] fjfhmgn --- .../frc/robot/subsystems/BasePilotable.class | Bin 1904 -> 3506 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index 3edf4ca76811c71583152632750a183fb4d896a2..43a16c10aa72b895bd35bb0cd0e7ba9c0e14b90a 100644 GIT binary patch literal 3506 zcmbVO`BxKH6#j-SCX7l|RNSkG0hg(uB1J7rKxv~=uvE0RolFK87&7Ub38=M;wR>xA zYxjNm1A59SaBNTeLx0r&si)tY$%2@;c_jC}``+EZd*9sr@6Ue#wBnZ#$`ouJ5r!t5 zgyU&$CgEOiJ#*64x^&msg+Qc6g<{q z*2oAQN_m!U$0Ua;A_<{SAs%xw%-^76n<>Xi%1C{wob~YN1>v}clconjjwbYs zZrOUm)l&M@c}>=)^Vq;3C6|nvo}L=Dd9^&+7*kNu?Ig`G6s%RT0xKg}hYcaDSFm0t zyM!VY8&Ml5>kO1Fk6S78L}oH!ic_-K3Rc7&L$`-?Vaa`#S>cUYu7djbz2TB|Hf?#v znDnY%#db6VM*AhxkDymUWi%FR9Fie4s#uC;5$we75OyipUA(jJc1RQnLrWH&g=Zmp zQU;SR6l{w&-hu4_)268@GkdAM8i#Nsgu@CpFK&ZHS5-VAt5Z!2{f=u%e`R($RfJF_ zSKTU>1gjnuVN_Lh)UcKLkI5V`U6Z{=a12R{PpOFGIF*r`Q>I``G*-mno}svv=n=vZ ztX-r_0{diUO86P-SFs#5VGQ6@2!jfmikIegq}LDWcE(ik42GESiC#xc>w>k|bzglF zNVi9D8fQWnChG3Tri!z8j`90h(4r4wDFET~Djq>iE&;u!m}CM5psPp(VGNj4rjWy} z>X4PPydx2mgFzbT3u6>k2t@YELVs}VNT7MH#Mn52$ZIxIAxskBi;=KkAjX~PI4#-r z{_r|=Ax#?&(sXR1OJv+J+jQB9+8wyNs|sfG0EBdwvMtfR2b7i>8bw9|aa^vZB@q49 z1qsCQ5MEZ$TD(m69LOQOqM-S~g(J9#*JMbqE3iuy{BG9U&z3;RU4;U)yrCk3YT1-; 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+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.BasePilotable; @@ -26,7 +27,7 @@ public class Reculer extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(0.2, 0); + basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 54192a0..3aa09ac 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -7,10 +7,7 @@ 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; -======= ->>>>>>> b20ba544a81d82752f6f8e390de38cbcfdc79f08 import frc.robot.Constants; public class Gratte extends SubsystemBase { diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java index 7e50b91..7e88f9b 100644 --- a/src/main/java/frc/robot/subsystems/Limelight.java +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -4,15 +4,12 @@ package frc.robot.subsystems; -<<<<<<< HEAD import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -======= import org.photonvision.PhotonCamera; import org.photonvision.common.hardware.VisionLEDMode; import edu.wpi.first.net.PortForwarder; ->>>>>>> b20ba544a81d82752f6f8e390de38cbcfdc79f08 import edu.wpi.first.wpilibj2.command.SubsystemBase; From 15fc65d0b88412f0ba361b997e9c2d286b673197 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 15 Feb 2023 19:53:33 -0500 Subject: [PATCH 13/19] dsfghj./ --- src/main/java/frc/robot/RobotContainer.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 53f9f6d..cd7b010 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -36,8 +36,8 @@ import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; public class RobotContainer { -XboxController manette1 = new XboxController(0); -XboxController manette2 = new XboxController(1); +CommandXboxController manette1 = new CommandXboxController(0); +CommandXboxController manette2 = new CommandXboxController(1); // subsystems BasePilotable basePilotable = new BasePilotable(); Gratte gratte = new Gratte(); @@ -68,8 +68,8 @@ public RobotContainer() { } private void configureBindings() { - - + manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); + manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); From 409936fe3e84c4d5dafa4f6ce485bde2c64da629 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 15 Feb 2023 19:55:17 -0500 Subject: [PATCH 14/19] fhmcgvn --- src/main/java/frc/robot/RobotContainer.java | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4a5236f..2f46998 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -8,18 +8,10 @@ import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.RunCommand; -<<<<<<< HEAD -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.Trigger; -======= -<<<<<<< HEAD + import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -======= -import edu.wpi.first.wpilibj2.command.button.JoystickButton; ->>>>>>> ded3f6018fe8a2c8b719139889c406330ff44003 ->>>>>>> f1d0e3b3526aaeeafab0416ba8e92344786ea73c //subsystems import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.Gratte; From f92c66dcd7fc03e3db7a09a003fb1b9609af111e Mon Sep 17 00:00:00 2001 From: Olivier Demers Date: Fri, 17 Feb 2023 15:55:49 +0000 Subject: [PATCH 15/19] retour du ci --- .gitlab-ci.yml | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 .gitlab-ci.yml diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml new file mode 100644 index 0000000..18ff083 --- /dev/null +++ b/.gitlab-ci.yml @@ -0,0 +1,13 @@ +default: + image: gradle:jdk11 + tags: + - robot + +stages: # List of stages for jobs, and their order of execution + - build + +build-job: # This job runs in the build stage, which runs first. + stage: build + script: + - chmod +x gradlew + - ./gradlew build From 253d785bf4621eb5284641c08b24769d6f034ada Mon Sep 17 00:00:00 2001 From: Olivier Demers Date: Sun, 19 Feb 2023 21:19:36 -0500 Subject: [PATCH 16/19] Fixed incomplete merge --- src/main/java/frc/robot/Robot.java | 1 - src/main/java/frc/robot/RobotContainer.java | 13 +------------ 2 files changed, 1 insertion(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 50229b4..2da5318 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -6,7 +6,6 @@ package frc.robot; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9f46643..abd26bf 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,23 +4,12 @@ package frc.robot; -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -<<<<<<< HEAD -import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import edu.wpi.first.wpilibj2.command.button.Trigger; - import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -======= import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import edu.wpi.first.wpilibj2.command.button.Trigger; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.button.JoystickButton; ->>>>>>> 856a2295bef699955297a016b8d5ddd1d8bd68d8 + //subsystems import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.Gratte; From 3eeec84480eede289f129e0f9b106610e7db5173 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 20 Feb 2023 17:20:08 -0500 Subject: [PATCH 17/19] dfsg --- src/main/java/frc/robot/RobotContainer.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cd7b010..bf05a68 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -72,8 +72,6 @@ public RobotContainer() { manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); - - } public Command getAutonomousCommand() { From cdfe00e41a7adb44b7420d382fdb05a9ec6e7ca4 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 20 Feb 2023 18:23:28 -0500 Subject: [PATCH 18/19] p;iouy1q --- src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java | 3 ++- src/main/java/frc/robot/subsystems/bras/Pivot.java | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 2808ceb..0a00268 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -9,6 +9,7 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -31,6 +32,6 @@ public class BrasTelescopique extends SubsystemBase { } @Override public void periodic() { - // This method will be called once per scheduler run + Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index b2e3214..e4e4468 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -5,6 +5,7 @@ package frc.robot.subsystems.bras; import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -33,6 +34,6 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { - // This method will be called once per scheduler run + Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1); } } From be2188d63e19da254db65c89050467a2e32b39e2 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 20 Feb 2023 18:53:50 -0500 Subject: [PATCH 19/19] dsf --- src/main/java/frc/robot/RobotContainer.java | 6 +++++- src/main/java/frc/robot/subsystems/BasePilotable.java | 5 +++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8b4539a..16048c8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -16,6 +16,7 @@ import frc.robot.subsystems.Gratte; import frc.robot.subsystems.bras.BrasTelescopique; import frc.robot.subsystems.bras.Pince; import frc.robot.subsystems.bras.Pivot; +import pabeles.concurrency.ConcurrencyOps.Reset; import frc.robot.subsystems.Limelight; // command import frc.robot.commands.BrakeFerme; @@ -66,7 +67,10 @@ public RobotContainer() { private void configureBindings() { 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.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); + manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); + } diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 272c321..cf9e355 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -8,6 +8,7 @@ import com.kauailabs.navx.frc.AHRS; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.drive.DifferentialDrive; @@ -55,6 +56,10 @@ public void BrakeFerme(){ brakedroit.set(Value.kReverse); brakegauche.set(Value.kReverse); } +public void resetGyro(){ + try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true); + } + } /** Creates a new BasePilotable. */ public BasePilotable() { droit.setInverted(true);