PLS5618/robot-2023
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samuel desharnais 2023-04-12 17:15:48 -04:00
parent ba7d79882a
commit 8da3ff39b2
3 changed files with 10 additions and 8 deletions
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15
src/main/java/frc/robot/RobotContainer.java
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@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@ -67,6 +68,7 @@ public class RobotContainer {
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry(); GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry(); GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry(); GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
GenericEntry avancerforce = layoutauto.addPersistent("avancerforce", 0.4).getEntry();
// subsystems // subsystems
BasePilotable basePilotable = new BasePilotable(); BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte(); Gratte gratte = new Gratte();
@ -148,17 +150,16 @@ public class RobotContainer {
new SequentialCommandGroup( new SequentialCommandGroup(
Commands.select(Map.ofEntries( Commands.select(Map.ofEntries(
Map.entry(enhaut, creerCommandBras(51, -40)), Map.entry(enhaut, creerCommandBras(51, -40)),
Map.entry(aumilieux, creerCommandBras(9, -14)), Map.entry(aumilieux, creerCommandBras(45, -13)),
Map.entry(enbas, creerCommandBras(44, -17)), Map.entry(enbas, creerCommandBras(12, -9)),
Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected), Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
creerCommandBras(49, -40).unless(() -> chooser.getSelected().equals(enhaut)), //creerCommandBras(50, -40).unless(() -> !chooser.getSelected().equals(enhaut)),
creerCommandBras(51, -40).unless(() -> chooser.getSelected().equals(enhaut)), //creerCommandBras(51, -40).unless(() -> !chooser.getSelected().equals(enhaut)),
new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)), new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1), Commands.waitSeconds(1),
new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)), new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)), new ParallelCommandGroup (creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1), Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true))),
Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)),
new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)), new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true)))) Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
.andThen(brakeOuvre); .andThen(brakeOuvre);

1
src/main/java/frc/robot/commands/Avancer.java
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@ -7,6 +7,7 @@ package frc.robot.commands;
import java.util.function.DoubleSupplier; import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.CommandBase; import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.BasePilotable;

2
src/main/java/frc/robot/commands/Reculer.java
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@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
basePilotable.drive(-0.4,0); basePilotable.drive(-0.45,0);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.