Merge branch 'main' of https://demerso.net/pls5618/2023/robot

.gitlab-ci.yml

@@ -11,4 +11,3 @@ build-job:       # This job runs in the build stage, which runs first.
   script:
     - chmod +x gradlew
     - ./gradlew build
-

src/main/java/frc/robot/Robot.java

@@ -4,7 +4,9 @@
 
 package frc.robot;
 
+
 import edu.wpi.first.wpilibj.TimedRobot;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -35,7 +37,6 @@ public class Robot extends TimedRobot {
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }

src/main/java/frc/robot/RobotContainer.java

@@ -4,18 +4,19 @@
 
 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;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 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;
@@ -24,6 +25,7 @@ import frc.robot.commands.Cone;
 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;
@@ -32,8 +34,8 @@ import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 
 public class RobotContainer {
-XboxController manette1 = new XboxController(0);
+CommandXboxController manette1 = new CommandXboxController(0);
-XboxController manette2 = new XboxController(1);
+CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
 Gratte gratte = new Gratte();
@@ -57,18 +59,28 @@ Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
     configureBindings();
 
-    basePilotable.setDefaultCommand(brakeOuvre);
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
-    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis(), basePilotable);
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+    },basePilotable));
+    
 }
 
-
   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));
+    
 
-    JoystickButton buttonA = new JoystickButton(manette1, XboxController.Button.kA.value);
-    buttonA.whenPressed()
   }
 
   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)
+    );
   }
 }

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); 
    }
 }
 

src/main/java/frc/robot/commands/Reculer.java

@@ -0,0 +1,42 @@
+// 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.wpilibj.smartdashboard.SmartDashboard;
+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(SmartDashboard.getNumber("vitesse auto", -0.3), 0);
+  }
+
+  // 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;
+  }
+}

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);

src/main/java/frc/robot/subsystems/Gratte.java

@@ -7,6 +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;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
@@ -42,6 +43,9 @@ 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);
   }
 }

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 org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.targeting.PhotonTrackedTarget;
@@ -53,6 +55,7 @@ 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);
   }
 }

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);
   }
 }

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);
   }
 }