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

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,17 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "Shuffleboard": {
+        ".metadata": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -10,12 +10,16 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
+<<<<<<< HEAD
+    public static int baiserGratte = 1;
+=======
     public static int baisserGratte = 1;
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-     public static int actuateur = 2;
+     public static int actuateur = 8;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
      public static int brakewinchf = 5;

src/main/java/frc/robot/RobotContainer.java

@@ -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;
 // command
 import frc.robot.commands.BrakeFerme;
@@ -33,6 +32,7 @@ import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 
+
 public class RobotContainer {
    CameraServer.startAutomaticCapture();
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -70,8 +70,21 @@ 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(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
+    /*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));
+<<<<<<< HEAD
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
+=======
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/GratteBaisser.java

@@ -41,7 +41,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    
+  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -13,17 +13,19 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 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.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BasePilotable extends SubsystemBase {
-  final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
+  final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
   final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
   final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
   final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
-  final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
+  final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   
@@ -32,6 +34,9 @@ public class BasePilotable extends SubsystemBase {
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout ("distance", BuiltInLayouts.kList)
+  .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -41,13 +46,13 @@ public class BasePilotable extends SubsystemBase {
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
-    return (-avantdroit.getEncoder().getPosition()
+    return (-avantd.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
     -arrieredroit.getEncoder().getPosition()
     +arrieregauche.getEncoder().getPosition()) / 4;
   }
   public void Reset() {
-    avantdroit.getEncoder().setPosition(0);
+    avantd.getEncoder().setPosition(0);
     avantgauche.getEncoder().setPosition(0);
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
@@ -61,20 +66,16 @@ public void BrakeFerme(){
   brakegauche.set(Value.kReverse);
 }
 public void resetGyro(){
-  try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true);
+  {gyroscope.reset();} 
  }
-  }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
+    layout .addDouble("distance", this::distance);
   }
 
   @Override
   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);
   }
-}
+}

src/main/java/frc/robot/subsystems/Gratte.java

@@ -8,15 +8,27 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 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.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+<<<<<<< HEAD
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+=======
+ ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
+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);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+public boolean baiser;
   
   public boolean hautd(){
     return limithd.get();
@@ -26,7 +38,7 @@ public class Gratte extends SubsystemBase {
     return limithg.get();
   }
 
-  public boolean basd(){
+  public boolean basd(int i, String string){
     return limitbd.get();
   }
   public boolean basg(){
@@ -44,9 +56,17 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1);
+    teb .add("limithd", 0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
+    teb .add("limithg", 0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
+    teb .add("limitbd", 0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
+    teb .add("limitbg", 0.1);
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
   }
+
+public boolean basd() {
+    return false;
+}
 }

src/main/java/frc/robot/subsystems/Limelight.java

@@ -6,6 +6,8 @@ package frc.robot.subsystems;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
 
@@ -15,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
 public class Limelight extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
@@ -56,6 +59,6 @@ public class Limelight extends SubsystemBase {
   @Override
   public void periodic() {
     CameraServer.startAutomaticCapture();
-    Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1);
+    teb .add("limelight", 0.1);
   }
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -12,11 +12,28 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+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 edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout("layout", BuiltInLayouts.kList)
+  .withSize(2, 2);
+<<<<<<< HEAD
+ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
+ .getLayout("bras", BuiltInLayouts.kList)
+ .withSize(2, 2);
+=======
+  
+ShuffleboardLayout bras = Shuffleboard.getTab("teb")
+.getLayout("bras", BuiltInLayouts.kList)
+.withSize(2, 2);
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -42,7 +59,8 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
+    teb .add("photocell",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+    teb .add("winch",0.1);
+    bras.add ("encodeur",0.1);
   }
-}
+}

src/main/java/frc/robot/subsystems/bras/Pince.java

@@ -8,9 +8,11 @@ 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 frc.robot.Constants;
 
-public class Pince extends SubsystemBase {
+
+public class Pince extends SubsystemBase{
   private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
   /** Creates a new Pince. */
   public Pince() {
@@ -23,6 +25,5 @@ public class Pince extends SubsystemBase {
    }
   @Override
   public void periodic() {
-    
   }
 }

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -6,6 +6,7 @@ package frc.robot.subsystems.bras;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -13,6 +14,11 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+<<<<<<< HEAD
+ShuffleboardTab teb = Shuffleboard.getTab("teb");
+=======
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -21,7 +27,7 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
-  // encoder
+  // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
   }
@@ -34,8 +40,17 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
+    teb .add("encodeur", 0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+    teb .add ("encodeur pivot",0.1);
   }
- }
+<<<<<<< HEAD
+}
+  
+ 
 
+=======
+  {
+  teb.add ("encodeur pivot",0.1);
+ }
+}
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0