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

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,17 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "Shuffleboard": {
+        ".metadata": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -5,17 +5,23 @@ 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
 
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-     public static int actuateur = 2;
+     public static int actuateur = 8;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
      public static int brakewinchf = 5;

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

@@ -6,6 +6,7 @@ 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;
@@ -63,6 +64,23 @@ 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(() -> {

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

@@ -13,7 +13,9 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -32,6 +34,9 @@ public class BasePilotable extends SubsystemBase {
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -70,10 +75,6 @@ public void resetGyro(){
 
   @Override
   public void periodic() {
-    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);
     teb .add("brakedroit",0.1);
     teb .add("brakegauche", 0.1);

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

@@ -7,12 +7,25 @@ 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 DigitalInput limithd = new DigitalInput(Constants.limithd);
@@ -46,9 +59,16 @@ public class Gratte extends SubsystemBase {
   }
   @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
   }
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -8,10 +8,13 @@ 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;
@@ -20,10 +23,18 @@ 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
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -49,7 +60,11 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
+=======
+    bras.add ("encodeur",0.1);
+>>>>>>> Dash
   }
 }

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -14,7 +14,11 @@ 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
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -23,7 +27,7 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
-  // encoder
+  // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
   }
@@ -36,6 +40,12 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     teb .add("encodeur", 0.1);
   }
 }
+=======
+  teb .add ("encodeur pivot",0.1);
+ }
+}
+>>>>>>> Dash