From 64556db1cdf87628040a1dff60884d7848a2b896 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 20:03:12 -0500 Subject: [PATCH 1/3] tfghjkm --- src/main/java/frc/robot/RobotContainer.java | 31 +++++++++------ .../frc/robot/commands/GratteBaisser.java | 8 ++-- .../java/frc/robot/commands/GratteMonte.java | 4 +- .../java/frc/robot/subsystems/Gratte.java | 38 ++++++++++++------- 4 files changed, 51 insertions(+), 30 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index eef6f29..3734664 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -18,6 +18,7 @@ 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 import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeOuvre; @@ -35,6 +36,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux; import frc.robot.commands.bras.PivotChercheBas; import frc.robot.commands.bras.PivotChercheHaut; import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.math.spline.CubicHermiteSpline; import frc.robot.commands.Cube; import frc.robot.commands.Cone; import frc.robot.commands.Tape; @@ -62,6 +64,12 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot); PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot); PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY()); +PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot); +PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot); +Cube cube = new Cube(limelight, basePilotable, null); +Apriltag aprilTag = new Apriltag(limelight, basePilotable, null); +Tape tape = new Tape(limelight, basePilotable, null); + public RobotContainer() { configureBindings(); @@ -71,23 +79,24 @@ public RobotContainer() { } - private boolean configureBindings() { + private void configureBindings() { // manette 1 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)); - manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); + manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); + manette1.leftBumper().toggleOnTrue(aprilTag); + manette1.rightBumper().toggleOnTrue(tape); // manette 2 - manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique)); - 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)); - + manette2.a().onTrue(pivoteBrasHaut); + manette2.b().onTrue(pivoteBrasBas); + manette2.x().onTrue(pivoteBrasMilieux); + manette2.y().onTrue(pivotBrasRentre); + manette2.povRight().onTrue(pivotChercheBas); + manette2.povLeft().onTrue(pivotChercheHaut); + manette2.rightBumper().toggleOnTrue(cube); + manette2.leftBumper().toggleOnTrue(cone); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java index 8984475..61c7240 100644 --- a/src/main/java/frc/robot/commands/GratteBaisser.java +++ b/src/main/java/frc/robot/commands/GratteBaisser.java @@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase { // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + gratte.setenHaut(false); + } // Called every time the scheduler runs while the command is scheduled. @Override @@ -41,9 +43,7 @@ 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 diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java index 3581712..507b90d 100644 --- a/src/main/java/frc/robot/commands/GratteMonte.java +++ b/src/main/java/frc/robot/commands/GratteMonte.java @@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase { // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + gratte.setenHaut(true); + } // Called every time the scheduler runs while the command is scheduled. @Override diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 3f727ef..0934180 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -5,6 +5,11 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import javax.swing.text.StyledEditorKit.BoldAction; + +import org.apache.commons.collections4.functors.IfClosure; + import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; @@ -25,8 +30,16 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") 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 baiser; + boolean enHaut = true; + public void setenHaut(boolean enHaut){ + this.enHaut = enHaut; + } + public boolean getenHaut(){ + return enHaut; + + } + public boolean hautd(){ return limithd.get(); } @@ -35,14 +48,19 @@ public boolean baiser; return limithg.get(); } - public boolean basd(int i, String string){ + public boolean basd(){ return limitbd.get(); } public boolean basg(){ return limitbg.get(); } /** Creates a new Gratte. */ - public Gratte() {} + public Gratte() { + + } + + + public void Lever(double vitesse){ Gratted.set(vitesse); Gratteg.set(vitesse); @@ -52,18 +70,10 @@ public boolean baiser; Gratteg.set(-vitesse); } @Override - public void periodic() { - teb .add("limithd", 0.1); - teb .add("limithg", 0.1); - teb .add("limitbd", 0.1); - teb .add("limitbg", 0.1); + public void periodic(){ 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; -} -} +} \ No newline at end of file From d461720da61b0b252ef524e242983c0eff377d91 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 7 Mar 2023 20:05:55 -0500 Subject: [PATCH 2/3] fdvhnbm --- src/main/java/frc/robot/RobotContainer.java | 23 +----------------- .../java/frc/robot/subsystems/Gratte.java | 24 ++----------------- 2 files changed, 3 insertions(+), 44 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bfb40f7..bfc6d3b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -32,17 +32,11 @@ 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; -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(); @@ -84,15 +78,11 @@ 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); @@ -104,18 +94,7 @@ public RobotContainer() { manette2.povRight().onTrue(pivotChercheBas); 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 + manette2.leftBumper().toggleOnTrue(cone); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index df518c7..056c6da 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -3,13 +3,7 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot.subsystems; - import edu.wpi.first.wpilibj2.command.SubsystemBase; - -import javax.swing.text.StyledEditorKit.BoldAction; - -import org.apache.commons.collections4.functors.IfClosure; - import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; @@ -53,22 +47,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") public boolean basg(){ 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); @@ -78,15 +63,10 @@ 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 - } +} } \ No newline at end of file From 407603ab1fdb564bb2b1fc0a7b834e6980ab58e7 Mon Sep 17 00:00:00 2001 From: Olivier Demers Date: Wed, 8 Mar 2023 14:02:31 +0000 Subject: [PATCH 3/3] Deleted bin/main/frc/robot/subsystems/BasePilotable.class --- .../frc/robot/subsystems/BasePilotable.class | Bin 4945 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 bin/main/frc/robot/subsystems/BasePilotable.class diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class deleted file mode 100644 index 97e4d2ea02ea1f4aecc4b5d209cb7cce22189f01..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4945 zcmbVQ`F|W`8UIeM$!?}?SlZf9S_0H|6KaPfg)|Mc&7IUu6S6fiP{rBZNixl3XPueN zB}xPpJPH-%xFR+B?IDJ8DPUiD*i*C;PS8 zRtZ(!i{n~4K0z@>vu#7S^@MF1u7pjQW%hA-X1^s;P#bm1axFV_0Q!N6Pu=!Z+G{(lLP|`Itvs3I4A{eu^$*hihi->nxY1%GonR?PP z65^(wRQB{zSC2_JSVY*FNRN$~dd$*nns(LVq!tr*Fts@=O#?M=R6gPf5+X1@XIoC( zO3?zok0!OWW|&&cQIp#AtSWfX);kpCyOra*t0l)xzFHct>y%K|VI}kcBwVRrJ6;pS zZq&-SO2SUz>>@x4u11Xy*5-q4i5N-!M0zTw+q{>64@IoFW)5q%A=a7AGIzpoBds%D^=_Zew)-x})R^b@hWwc4SYHb*A^k;nv0;s4sR?RfRFB)@5cXYCmLl{ zn178SeOk9gVhz~B);$bf!EZysY4p-j^%_Hg7h)3a(a_|>Ru8_Dt3TkD2p(ASsepLET}^^{L=i5hNOC6s$a z=WgOrac2EgCaf!NGLnXSB#2VXE0{%p0C(UWGTu(`e55mhi;!_01$SbB7V-;=Umv8t z0Pe!OWZccTT}$v)btYoXL});Bk5>~;&ZTJBcjG-on{2n!&V;EuOfc%p!s(I_B*|gi zD>Q$vgr;!c2Bn4L@4)*-d@YFCeImZR+5IBE7G!*g`Mt2~Ua`)}_=tqYjSC0y06r$J z^l=GhF&@K@e3U*F2;^L6ykKpAyP^TEgV3Qs&j_@>zUd#^;JA zoWZ1?o?@PjJN;H7%{t`~>I-<7(bsWusB5r;Az3Wn6cTO~1o)E3b_*i&JR&ar6$uT+ zE?p3#ug|B{S4A#as6;4;Z{RT*-z2jOGofggq2OCMD_SMpWw1)jVUUtZ9wb;IV)bb3KN zgCENHfrJ~@Vae64rVpUtS^S8FbjENeqQ*S)`;jo2wjS+QgLPO_DJ#h~+M~cv6l}#d zQNZR!#`&3opW}JIU+7D+D7m6}DhspL@Z^+k8&<-ISK`Ksqvy|vuZM#84Spx%w-T!J zb;z&e3Vx42Fc7Cj8!#}&dL;UewQqSY{-c6F;m@qwT7u_|6mn8tZXkAAkGt#igE5sd z^${aM4zyNcOC>I2t%+J`JFa&dUZZ=_C#(bF7=HTcOD1)@!_*u{cVzsFrF$Jkja18( zHPYT|e{eMet(47~f@;xaa#k%GId5be=Z$RQypc)Q8<}#wk?k@}wQ8;omE`YUIAev9kVg>|DmK$GkVM;ok~xKa6WRSNwOd2e0Ky!rq*G zQ${}E%kR5yEkOM$fItpl6RsnSP$0tVmU9deVE?|lWgIxmRSAR&L5{!yR#(+Ssr5`0 z%%F(pO*rVO7Q_vlm2!S#PPMyH<~?g6a`Q4;&f}ZficQePlty*$dji5hsRmW2h$SSn?JWiBiB%@J& zB~;3Ew%hj1lYP|w!p5Lyc=FqBiEC*!PbJTkh7H!R~e&NP3P2jA?O z`DU8;2*dv9D$s4YTg8ikCUT%+widLFpzQ?hC91HGM^3g3sQA89%92!fH&WZ5}P zo%MVw6Gxac&yp?{(H;+VyDynhwTeVeW13Pk#N)qEj>~Wax7on@evwAl$cY$useT1> z^-tpP=px>>h+4x{~qn8^Gj8gOFvZwIj(NfO3qbvC6 z5+2Mx>C8Rp^`D&K6IIBZ;qQYh_~a7ybL$jU`OG4|$e$H_c?r?{-lL0n)Z5eQLti_G zuPedKXxYI;QA1*1 zK{D?|FPRm?E_OP*aX%B(!?gAat$Kk;;90))Jn8=e!gvwK@n5`tl}BI7(c~9dBV#-h zjSW;_G4#u=_|-Z5dKoVW`Y(q5vS$6){5r2_h!DU4v)dqQaSN`;(5gclGKZGnZ+xo+ Zf5$&KhB&(m|HO;OYWVr=6#jjz=KpCZN&^4@