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:
samuel desharnais 2023-03-07 19:11:12 -05:00
commit 9db310d2d3
12 changed files with 218 additions and 32 deletions
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BIN
bin/main/frc/robot/subsystems/BasePilotable.class Normal file
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92
simgui-ds.json Normal file
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@ -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
}
]
}

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

6
src/main/java/frc/robot/Constants.java
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@ -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;

17
src/main/java/frc/robot/RobotContainer.java
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@ -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() {

4
src/main/java/frc/robot/commands/GratteBaisser.java
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@ -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

23
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -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);
}
}

32
src/main/java/frc/robot/subsystems/Gratte.java
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@ -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);
Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
teb .add("limithd", 0.1);
teb .add("limithg", 0.1);
teb .add("limitbd", 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;
}
}

5
src/main/java/frc/robot/subsystems/Limelight.java
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@ -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);
}
}

22
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -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);
Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
teb .add("photocell",0.1);
teb .add("winch",0.1);
bras.add ("encodeur",0.1);
}
}

3
src/main/java/frc/robot/subsystems/bras/Pince.java
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@ -8,8 +8,10 @@ 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{
private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
/** Creates a new Pince. */
@ -23,6 +25,5 @@ public class Pince extends SubsystemBase {
}
@Override
public void periodic() {
}
}

21
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -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);
Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
teb .add("encodeur", 0.1);
teb .add ("encodeur pivot",0.1);
}
<<<<<<< HEAD
}
=======
{
teb.add ("encodeur pivot",0.1);
}
}
>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0