PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois 2023-02-20 19:58:35 -05:00
commit 890370d23b
5 changed files with 27 additions and 4 deletions
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1
networktables.json Normal file
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@ -0,0 +1 @@

11
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -12,6 +12,8 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
@ -23,10 +25,12 @@ public class BasePilotable extends SubsystemBase {
final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit); final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche); final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
final DifferentialDrive drive = new DifferentialDrive(gauche, droit); final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
//piston //piston
private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit); private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche); private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
//gyro //gyro
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
public double getpitch() { public double getpitch() {
return gyroscope.getPitch(); return gyroscope.getPitch();
@ -62,7 +66,10 @@ public void BrakeFerme(){
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run teb .add("encodeuravantdroit",0.1);
teb .add("encodeurarrieregauche",0.1);
teb .add("encodeurarrieredroit",0.1);
teb .add("encodeuravantgauche",0.1);
teb .add("distance",0.1);
} }
} }

7
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -8,7 +8,10 @@ package frc.robot.subsystems.bras;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANSparkMaxLowLevel.MotorType;
<<<<<<< HEAD
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
=======
>>>>>>> Dash
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
@ -32,6 +35,10 @@ public class BrasTelescopique extends SubsystemBase {
} }
@Override @Override
public void periodic() { public void periodic() {
<<<<<<< HEAD
Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1); Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
=======
Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
>>>>>>> Dash
} }
} }

4
src/main/java/frc/robot/subsystems/bras/Pince.java
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@ -15,8 +15,8 @@ public class Pince extends SubsystemBase {
/** Creates a new Pince. */ /** Creates a new Pince. */
public Pince() { public Pince() {
} }
public void fermer() { public void fermer() {
pistonPince.set(Value.kReverse); pistonPince.set(Value.kReverse);
} }
public void ouvrir() { public void ouvrir() {
pistonPince.set(Value.kForward); pistonPince.set(Value.kForward);

8
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -4,7 +4,10 @@
package frc.robot.subsystems.bras; package frc.robot.subsystems.bras;
<<<<<<< HEAD
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
=======
>>>>>>> Dash
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
@ -34,6 +37,11 @@ public class Pivot extends SubsystemBase {
} }
@Override @Override
public void periodic() { public void periodic() {
<<<<<<< HEAD
Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1); Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
} }
=======
Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
}
>>>>>>> Dash
} }