PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois 2023-02-22 18:50:23 -05:00
commit 909d3f424b
12 changed files with 163 additions and 14 deletions
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2
src/main/java/frc/robot/Constants.java
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@ -18,6 +18,8 @@ public class Constants {
public static int actuateur = 2;
public static int brakedroit = 3;
public static int brakegauche = 4;
public static int brakewinchf = 5;
public static int brakewinchb = 5;
// DIO
public static int limitbd = 0;
public static int limitbg = 2;

10
src/main/java/frc/robot/RobotContainer.java
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@ -4,7 +4,6 @@
package frc.robot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -23,19 +22,16 @@ import frc.robot.subsystems.Limelight;
import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.Cone;
import frc.robot.commands.Cube;
import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
import frc.robot.commands.Reculer;
import frc.robot.commands.Tape;
import frc.robot.commands.bras.FermePince;
import frc.robot.commands.bras.OuvrePince;
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.Apriltag;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
@ -60,9 +56,6 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
Cube cube = new Cube(limelight, basePilotable, ()->-manette1.getLeftY());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, ()->-manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, ()->-manette1.getLeftY());
public RobotContainer() {
configureBindings();
@ -76,9 +69,8 @@ public RobotContainer() {
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());
manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
}
public Command getAutonomousCommand() {

3
src/main/java/frc/robot/commands/GratteMonte.java
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@ -4,8 +4,7 @@
package frc.robot.commands;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import frc.robot.Constants;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Gratte;

4
src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
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@ -29,6 +29,7 @@ public class PivotBrasRentre extends CommandBase {
public void execute() {
if(brasTelescopique.distance()>1){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
if (pivot.distance()>1){
pivot.monteDescendre(0.5);
@ -36,9 +37,10 @@ public class PivotBrasRentre extends CommandBase {
else if(brasTelescopique.photocell()){
brasTelescopique.Reset();
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
else{
brasTelescopique.AvanceRecule(.5);
brasTelescopique.AvanceRecule(0.5);
}
if(pivot.limitpivot()){
pivot.Reset();

61
src/main/java/frc/robot/commands/bras/PivotChercheBas.java Normal file
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@ -0,0 +1,61 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands.bras;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pivot;
public class PivotChercheBas extends CommandBase {
private BrasTelescopique brasTelescopique;
private Pivot pivot;
/** Creates a new PivotChercheBas. */
public PivotChercheBas(BrasTelescopique brasTelescopique, Pivot pivot) {
this.brasTelescopique = brasTelescopique;
this.pivot = pivot;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(brasTelescopique);
addRequirements(pivot);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
}
else{
pivot.monteDescendre(0);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

61
src/main/java/frc/robot/commands/bras/PivotChercheHaut.java Normal file
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@ -0,0 +1,61 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands.bras;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pivot;
public class PivotChercheHaut extends CommandBase {
private BrasTelescopique brasTelescopique;
private Pivot pivot;
/** Creates a new PivotChercheHaut. */
public PivotChercheHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
this.brasTelescopique = brasTelescopique;
this.pivot = pivot;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(brasTelescopique);
addRequirements(pivot);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
}
else{
pivot.monteDescendre(0);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

2
src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
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@ -31,12 +31,14 @@ public class PivoteBrasBas extends CommandBase {
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);

2
src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
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@ -29,12 +29,14 @@ public class PivoteBrasHaut extends CommandBase {
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);

2
src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
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@ -29,12 +29,14 @@ public class PivoteBrasMilieux extends CommandBase {
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);

2
src/main/java/frc/robot/subsystems/Limelight.java
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@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import org.photonvision.PhotonCamera;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonTrackedTarget;
import edu.wpi.first.net.PortForwarder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

20
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -9,6 +9,12 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
<<<<<<< HEAD
=======
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@ -20,6 +26,7 @@ public class BrasTelescopique extends SubsystemBase {
public BrasTelescopique() {}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell);
private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
public void AvanceRecule(double vitesse) {
Winch.set(vitesse);
}
@ -30,11 +37,22 @@ public class BrasTelescopique extends SubsystemBase {
Winch.getEncoder().setPosition(0);
}
public boolean photocell(){
return photocell.get();
return photocell.get();
}
public void fermer() {
brakewinch.set(Value.kReverse);
}
public void ouvrir() {
brakewinch.set(Value.kForward);
}
@Override
public void periodic() {
<<<<<<< HEAD
teb .add("``photocell``",0.1);
teb .add("winch",0.1);
=======
Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
}
}

8
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -36,6 +36,14 @@ public class Pivot extends SubsystemBase {
}
@Override
public void periodic() {
<<<<<<< HEAD
teb .add("encodeur", 0.1);
}
}
=======
Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
}
}
>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a