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
commit 96a7e51978
9 changed files with 68 additions and 31 deletions
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1
src/main/java/frc/robot/Constants.java
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@ -10,6 +10,7 @@ public class Constants {
//moteur
public static int leverGratte = 0;
public static int baiserGratte = 1;
public static int baisserGratte = 1;
// pneumatique

23
src/main/java/frc/robot/RobotContainer.java
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@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
//import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -16,7 +16,6 @@ import frc.robot.subsystems.Gratte;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import pabeles.concurrency.ConcurrencyOps.Reset;
import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
// command
@ -33,6 +32,7 @@ import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux;
<<<<<<< HEAD
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import edu.wpi.first.apriltag.AprilTag;
@ -40,8 +40,12 @@ import edu.wpi.first.math.spline.CubicHermiteSpline;
import frc.robot.commands.Cube;
import frc.robot.commands.Cone;
import frc.robot.commands.Tape;
=======
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
public class RobotContainer {
//CameraServer.startAutomaticCapture();
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
// subsystems
@ -80,11 +84,15 @@ public RobotContainer() {
}
private void configureBindings() {
<<<<<<< HEAD
// manette 1
=======
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
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.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
<<<<<<< HEAD
manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.rightBumper().toggleOnTrue(tape);
@ -97,6 +105,17 @@ public RobotContainer() {
manette2.povLeft().onTrue(pivotChercheHaut);
manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone);
=======
/*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
}
public Command getAutonomousCommand() {

13
src/main/java/frc/robot/commands/Gyro.java
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@ -4,13 +4,18 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable;
public class Gyro extends CommandBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private BasePilotable basePilotable;
/** Creates a new Gyro. */
public Gyro(BasePilotable basePilotable) {
teb.add("angleGyro", 0.1);
teb.add("vitesseGyro", 0.1);
this.basePilotable = basePilotable;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
@ -23,13 +28,13 @@ public class Gyro extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(basePilotable.getpitch()<10)
if(basePilotable.getpitch()>4)
{
basePilotable.drive(0.4, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
}
else if(basePilotable.getpitch()>-10)
else if(basePilotable.getpitch()<-4)
{
basePilotable.drive(-0.4, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
}
else
{

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;

12
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);
}
}