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This commit is contained in:
Olivier Dubois 2023-03-08 19:11:46 -05:00
parent 4e6c8413d9
commit 99ce225dc6
1 changed files with 19 additions and 18 deletions
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33
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -7,22 +7,25 @@ package frc.robot.subsystems;
import com.kauailabs.navx.frc.AHRS; import com.kauailabs.navx.frc.AHRS;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; 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.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
public class BasePilotable extends SubsystemBase { public class BasePilotable extends SubsystemBase {
final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless); final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless); final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless); final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless); final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit); final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche); final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
final DifferentialDrive drive = new DifferentialDrive(gauche, droit); final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
@ -31,26 +34,35 @@ public class BasePilotable extends SubsystemBase {
private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche); private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
//gyro //gyro
ShuffleboardTab teb = Shuffleboard.getTab("teb"); 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();} private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
public double getpitch() { public double getpitch() {
return gyroscope.getPitch(); return gyroscope.getPitch();
} }
public void drive(double xSpeed, double zRotation){ public void drive(double xSpeed, double zRotation, int i){
drive.arcadeDrive(xSpeed, zRotation); drive.arcadeDrive(xSpeed, zRotation);
} }
public double distance(){ public double distance(){
return (-avantd.getEncoder().getPosition() teb .add ("distance",0.1);
return (-avantdroit.getEncoder().getPosition()
+avantgauche.getEncoder().getPosition() +avantgauche.getEncoder().getPosition()
-arrieredroit.getEncoder().getPosition() -arrieredroit.getEncoder().getPosition()
+arrieregauche.getEncoder().getPosition()) / 4; +arrieregauche.getEncoder().getPosition()) / 4;
} }
public void Reset() { public void Reset() {
avantd.getEncoder().setPosition(0); avantdroit.getEncoder().setPosition(0);
avantgauche.getEncoder().setPosition(0); avantgauche.getEncoder().setPosition(0);
arrieredroit.getEncoder().setPosition(0); arrieredroit.getEncoder().setPosition(0);
arrieregauche.getEncoder().setPosition(0); arrieregauche.getEncoder().setPosition(0);
} }
public void resetGyro(){
{gyroscope.reset();
}
}
public void BrakeOuvre(){ public void BrakeOuvre(){
brakedroit.set(Value.kForward); brakedroit.set(Value.kForward);
brakegauche.set(Value.kForward); brakegauche.set(Value.kForward);
@ -59,24 +71,13 @@ public void BrakeFerme(){
brakedroit.set(Value.kReverse); brakedroit.set(Value.kReverse);
brakegauche.set(Value.kReverse); brakegauche.set(Value.kReverse);
} }
public void resetGyro(){
{gyroscope.reset();}
}
/** Creates a new BasePilotable. */ /** Creates a new BasePilotable. */
public BasePilotable() { public BasePilotable() {
droit.setInverted(true); droit.setInverted(true);
teb .addDouble("distance", this::distance);
} }
@Override @Override
public void periodic() { 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);
} }
} }