From 56d5b89a19d4a1bb3d4beb14043d9e1f95880d22 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 20 Mar 2023 18:47:53 -0400 Subject: [PATCH 1/4] io --- src/main/java/frc/robot/RobotContainer.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d50e4e5..77a4d65 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -113,10 +113,10 @@ public class RobotContainer { manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.leftBumper().toggleOnTrue(aprilTag); manette1.rightBumper().toggleOnTrue(tape); - manette1.povUp().whileTrue(pivoteBrasHaut); - manette1.povDown().whileTrue(pivoteBrasBas); - manette1.povRight().whileTrue(pivoteBrasMilieux); - manette1.povLeft().whileTrue(pivotBrasRentre); + manette1.povUp().whileTrue(creerCommandBras(51, -40)); + manette1.povDown().whileTrue(creerCommandBras(0, 0)); + manette1.povRight().whileTrue(creerCommandBras(0, 0)); + manette1.povLeft().whileTrue(creerCommandBras(0, 0)); //manette 2 manette2.povDown().onTrue(pivotChercheBas); manette2.povUp().onTrue(pivotChercheHaut); From 60fee7a220526ec9cf50c9690ac5993a24a35e09 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 20 Mar 2023 18:55:50 -0400 Subject: [PATCH 2/4] drfkjdfxfkjjdf(message constructif) --- .../frc/robot/commands/ActiverLimeLight.java | 38 +++++++++++++++++++ .../java/frc/robot/subsystems/Limelight.java | 3 ++ 2 files changed, 41 insertions(+) create mode 100644 src/main/java/frc/robot/commands/ActiverLimeLight.java diff --git a/src/main/java/frc/robot/commands/ActiverLimeLight.java b/src/main/java/frc/robot/commands/ActiverLimeLight.java new file mode 100644 index 0000000..79e7fe9 --- /dev/null +++ b/src/main/java/frc/robot/commands/ActiverLimeLight.java @@ -0,0 +1,38 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.Limelight; + +public class ActiverLimeLight extends CommandBase { + private Limelight limelight; + /** Creates a new ActiverLimeLight. */ + public ActiverLimeLight(Limelight limelight) { + this.limelight = limelight; + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(limelight); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() {} + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + limelight.joueurhumain(); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java index f6ff621..4663c1b 100644 --- a/src/main/java/frc/robot/subsystems/Limelight.java +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -56,6 +56,9 @@ public class Limelight extends SubsystemBase { limelight.setLED(VisionLEDMode.kOff); limelight.setDriverMode(true); } + public void joueurhumain(){ + limelight.setLED(VisionLEDMode.kOff); + } @Override public void periodic() { } From dd3211b6ea83a2db8162f1d8d9cba4dc17a18b7c Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 20 Mar 2023 19:00:25 -0400 Subject: [PATCH 3/4] j --- src/main/java/frc/robot/RobotContainer.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index eef19da..04667cc 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -45,7 +45,7 @@ import frc.robot.commands.bras.FermePince; import frc.robot.commands.bras.MonterPivotBras; import frc.robot.commands.bras.OuvrePince; import frc.robot.commands.bras.PivotManuel; - +import frc.robot.commands.ActiverLimeLight; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); @@ -90,6 +90,7 @@ public class RobotContainer { Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY()); PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY); BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX); + ActiverLimeLight activerLimeLight = new ActiverLimeLight(limelight); public RobotContainer() { chooser.addOption(enhaut, enhaut); @@ -118,6 +119,7 @@ public class RobotContainer { manette1.povDown().whileTrue(creerCommandBras(9, -14)); manette1.povRight().whileTrue(creerCommandBras(44, -17)); manette1.povLeft().whileTrue(creerCommandBras(0, 0)); + manette1.y().whileTrue(activerLimeLight); //manette 2 manette2.povDown().whileTrue(creerCommandBras(9, -18)); manette2.povUp().whileTrue(creerCommandBras(44, 0)); From 1da49837db76e3ae31f03d0e1593aec704cc02df Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 20 Mar 2023 19:15:34 -0400 Subject: [PATCH 4/4] d --- src/main/java/frc/robot/RobotContainer.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 04667cc..729301c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -109,7 +109,6 @@ public class RobotContainer { private void configureBindings() { // manette 1 - //y lumiere limelight, manuel 2e joystik, manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().onTrue(brakeOuvre); manette1.b().onTrue(brakeFerme); @@ -152,12 +151,11 @@ public class RobotContainer { Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected), new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)), Commands.waitSeconds(1), - fermePince.unless(() -> chooser.getSelected().equals(nulpart)), + new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)), creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)), Commands.waitSeconds(1), Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)), - new Avancer(basePilotable, () -> avancerdistance.getDouble(0)) - .unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)), + new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)), Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true)))) .andThen(brakeOuvre);