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This commit is contained in:
Olivier Dubois
2023-03-07 18:53:40 -05:00
parent 42ffd20962
commit 8655fe985a
8 changed files with 19 additions and 82 deletions
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7
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -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);
}
}

13
src/main/java/frc/robot/subsystems/Gratte.java
View File

@ -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
}
}

17
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
View File

@ -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
}
}

3
src/main/java/frc/robot/subsystems/bras/Pince.java
View File

@ -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;

16
src/main/java/frc/robot/subsystems/bras/Pivot.java
View File

@ -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