From 8655fe985a4803aefe8aa4857c86c9b584d4f47b Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Tue, 7 Mar 2023 18:53:40 -0500 Subject: [PATCH] bhbhbhbhh hbhbhbgfe --- .../frc/robot/subsystems/BasePilotable.class | Bin 4945 -> 5352 bytes src/main/java/frc/robot/Constants.java | 8 +--- src/main/java/frc/robot/RobotContainer.java | 37 +++--------------- .../frc/robot/subsystems/BasePilotable.java | 7 ++-- .../java/frc/robot/subsystems/Gratte.java | 13 +----- .../subsystems/bras/BrasTelescopique.java | 17 ++------ .../java/frc/robot/subsystems/bras/Pince.java | 3 +- .../java/frc/robot/subsystems/bras/Pivot.java | 16 +++----- 8 files changed, 19 insertions(+), 82 deletions(-) diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class index 97e4d2ea02ea1f4aecc4b5d209cb7cce22189f01..87950cbafadc0f0169446122d60981729af5519a 100644 GIT binary patch delta 994 zcma)5OHUI~6#g!y3>~I|MHelmCQuB;#Y7{x=t3SE#gs&Y0X1$0<`%~eGj$#iOiUBE zZX~ntcMzc{C?Y-(1Qp-!H;8ZdKH{aVp+-a8+-rTC&?J6Z`s*3iNlqVzM=pm_F5^YOS#h9&iSc=mB0R=%TfiOMCGbeH{98k>%8*q_>l9loL(w`T{~;HSQrQ-J5{ejezVU&z**Kkpf!WiW zpxI$_TW188EoRi0=Vrf3u5x3Iq^d27MI*%pcvJ#E4}#YMYT++-;}uH~2u+$sjYd^6 zO=@yjAgJg&T;@!A*X-r+k)ZOgRsCyV4xb5v%R>nYGTS*d=RNB3#8JrH06(1g%Bd}b zDU7(?DO?!C_#h^#M-bdMgvmjaRS)1~ehO3Up70G+592!6pK`0MpK3e5 zb)&fpqyM5R)0eH)`lP-Z-|x3^;~#KgykZlgck$hGa?f|p_ucRM>K5AgHMa<02;Zh? zjc%C?VcfN3D@{u&uRBEZpyepuzjsX<33f9Zs9i9)X~~q6(Mv|^x_1?8QfEG9}fsT z7AueBtE^OJ83O0PA$^=cDY8}cCLd;ZV4K=B06WIQDZOc+%oVjB5uWVlcf z%xr z-C|*1Fn6qIvScokW#yOxzk+r?>Fw`ONAh`A+GQG+#Vi@03Hr_+@8Mnk4VNbUCna|h z3W)gUA3V^}h}br+xLh`_FJZZkJA?D+Jvfa<9X*4Wan5ODWlCrr*d*#6k)VZk*ZKrj z|9YSwn*}3yi2b6j7dQ)N^DQb2E(RZkusVasHeM#1{Oy1IU5mGZg2DnwAb?SXF@|k8 ifL5p;T}yS~y^uNZ0UyO36zCK_;Y(b@I1b}$T>A}MgrXY& diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 777fea3..0dadcab 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -5,18 +5,12 @@ public class Constants { public static int avantgauche = 1; public static int arrieredroit = 2; public static int arrieregauche = 3; -<<<<<<< HEAD public static int BrasTelescopique = 4; public static int pivot = 5; //moteur public static int leverGratte = 0; - public static int baisserGratte = 1; -======= - - public static int leverGratte = 7; - public static int baisserGratte = 6; ->>>>>>> Dash + public static int baiserGratte = 1; // pneumatique public static int pistonpinceouvre = 0; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 83ba7b5..4157ed0 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,7 +6,6 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -<<<<<<< HEAD import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -17,7 +16,6 @@ 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; @@ -33,12 +31,7 @@ import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; 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 frc.robot.commands.Cube; -import frc.robot.commands.Cone; -import frc.robot.commands.Tape; + public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); @@ -64,23 +57,6 @@ PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pi PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY()); public RobotContainer() { -======= -import frc.robot.subsystems.BasePilotable; -import frc.robot.subsystems.Gratte; -import frc.robot.subsystems.Limelight; -import frc.robot.subsystems.bras.BrasTelescopique; -import frc.robot.subsystems.bras.Pince; -import frc.robot.subsystems.bras.Pivot; - -public class RobotContainer { - BasePilotable basePilotable = new BasePilotable(); - Gratte gratte = new Gratte(); - BrasTelescopique brasTelescopique = new BrasTelescopique(); - Pince pince = new Pince(); - Pivot pivot = new Pivot(); - Limelight limelight = new Limelight(); - public RobotContainer() { ->>>>>>> Dash configureBindings(); basePilotable.setDefaultCommand(new RunCommand(() -> { @@ -89,24 +65,21 @@ public class RobotContainer { } - private boolean configureBindings() { - // manette 1 + 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)); - manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); - // manette 2 - manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique)); + /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); + manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut)); 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.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/ } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 783ac65..ac6eaca 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -35,7 +35,7 @@ public class BasePilotable extends SubsystemBase { //gyro ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") - .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList) + .getLayout ("distance", BuiltInLayouts.kList) .withSize(2, 2); private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} public double getpitch() { @@ -72,12 +72,11 @@ public void resetGyro(){ /** Creates a new BasePilotable. */ public BasePilotable() { droit.setInverted(true); + layout .addDouble("distance", this::distance); } @Override public void periodic() { - teb .add("distance",0.1); - teb .add("brakedroit",0.1); - teb .add("brakegauche", 0.1); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index e758b90..2fc91db 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -7,27 +7,19 @@ 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; -======= import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; ->>>>>>> Dash import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); ->>>>>>> Dash private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte); - private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte); + private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte); private DigitalInput limithd = new DigitalInput(Constants.limithd); private DigitalInput limithg = new DigitalInput(Constants.limithg); private DigitalInput limitbd = new DigitalInput(Constants.limitbd); @@ -59,16 +51,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") } @Override public void periodic() { -<<<<<<< HEAD teb .add("limithd", 0.1); teb .add("limithg", 0.1); teb .add("limitbd", 0.1); teb .add("limitbg", 0.1); -======= limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limitbg", 0.1); ->>>>>>> Dash } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 815f1c0..ffe1dd0 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,13 +8,10 @@ package frc.robot.subsystems.bras; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -<<<<<<< HEAD import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -======= ->>>>>>> Dash import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; @@ -23,18 +20,13 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { -<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") .getLayout("layout", BuiltInLayouts.kList) .withSize(2, 2); -======= - -ShuffleboardTab teb = Shuffleboard.getTab("teb"); -ShuffleboardLayout bras = Shuffleboard.getTab("teb") -.getLayout("bras", BuiltInLayouts.kList) -.withSize(2, 2); ->>>>>>> Dash + ShuffleboardLayout bras = Shuffleboard.getTab("teb") + .getLayout("bras", BuiltInLayouts.kList) + .withSize(2, 2); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); @@ -60,11 +52,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb") } @Override public void periodic() { -<<<<<<< HEAD teb .add("photocell",0.1); teb .add("winch",0.1); -======= bras.add ("encodeur",0.1); ->>>>>>> Dash } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index 62022de..a8a7c81 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/src/main/java/frc/robot/subsystems/bras/Pince.java @@ -8,8 +8,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; + import frc.robot.Constants; diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index a1ef017..a252b7b 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= -ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> Dash +ShuffleboardTab teb = Shuffleboard.getTab("teb"); // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -40,12 +36,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb"); } @Override public void periodic() { -<<<<<<< HEAD teb .add("encodeur", 0.1); + teb .add ("encodeur pivot",0.1); } } -======= - teb .add ("encodeur pivot",0.1); - } -} ->>>>>>> Dash + + +