PLS5618/robot-2023
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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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This commit is contained in:
Antoine PerreaultE
2023-03-07 20:03:45 -05:00
parent 64556db1cd a50cbc2cf5
commit 96a7e51978
9 changed files with 68 additions and 31 deletions
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8
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -8,7 +8,6 @@ import com.kauailabs.navx.frc.AHRS;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@ -35,7 +34,7 @@ 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() {
@ -71,12 +70,11 @@ 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);
}
}

19
src/main/java/frc/robot/subsystems/Gratte.java
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@ -14,18 +14,17 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
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;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import frc.robot.Constants;
public class Gratte extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
.withSize(2, 2);
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);
@ -55,12 +54,21 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
return limitbg.get();
}
/** Creates a new Gratte. */
<<<<<<< HEAD
public Gratte() {
}
=======
public Gratte() {
limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1);
}
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
public void Lever(double vitesse){
Gratted.set(vitesse);
Gratteg.set(vitesse);
@ -70,10 +78,15 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
Gratteg.set(-vitesse);
}
@Override
<<<<<<< HEAD
public void periodic(){
limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1);
=======
public void periodic() {
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
}
}

4
src/main/java/frc/robot/subsystems/Limelight.java
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@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase {
PhotonCamera limelight = new PhotonCamera("limelight");
/** Creates a new Limelight. */
public Limelight() {
CameraServer.startAutomaticCapture();
teb .add("limelight", 0.1);
PortForwarder.add(5800, "photonvision.local", 5800);
}
@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase {
}
@Override
public void periodic() {
CameraServer.startAutomaticCapture();
teb .add("limelight", 0.1);
}
}

15
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -24,12 +24,15 @@ public class BrasTelescopique extends SubsystemBase {
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout("layout", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
/** Creates a new BrasTelescopique. */
public BrasTelescopique() {}
public BrasTelescopique() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
bras.add ("encodeur",0.1);}
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);
@ -53,8 +56,6 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
}
@Override
public void periodic() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
bras.add ("encodeur",0.1);
}
}

2
src/main/java/frc/robot/subsystems/bras/Pince.java
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@ -8,8 +8,6 @@ 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;

14
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -14,7 +14,8 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
public class Pivot extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardTab teb = Shuffleboard.getTab("teb");
// moteur
private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@ -23,6 +24,10 @@ public class Pivot extends SubsystemBase {
public void monteDescendre(double vitesse) {
pivot.set (vitesse);
}
public Pivot(){
teb .add ("encodeurpivot",0.1);
teb .add ("limitpivot",0.1);
}
// encodeur
public double distance(){
return (pivot.getEncoder().getPosition());
@ -36,9 +41,6 @@ public class Pivot extends SubsystemBase {
}
@Override
public void periodic() {
teb .add("encodeur", 0.1);
}
{
teb.add ("encodeur pivot",0.1);
}
}
}