zdfgbg
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parent
ac95c28c45
commit
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@ -1 +1,26 @@
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[
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{
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"name": "/Shuffleboard/teb/auto/reculerdistancesortir",
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"type": "double",
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"value": -66.0,
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"properties": {
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"persistent": true
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}
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},
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{
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"name": "/Shuffleboard/teb/auto/reculerdistancebalance",
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"type": "double",
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"value": -31.0,
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"properties": {
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"persistent": true
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}
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},
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{
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"name": "/Shuffleboard/teb/auto/avancer",
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"type": "double",
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"value": -35.0,
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"properties": {
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"persistent": true
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}
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}
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]
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1
networktables.json.bck
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1
networktables.json.bck
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@ -0,0 +1 @@
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@ -93,9 +93,9 @@ Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0))
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Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
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Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
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PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
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PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
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PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
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PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
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Cube cube = new Cube(limelight, basePilotable, null);
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Cube cube = new Cube(limelight, basePilotable, ()-> manette1.getLeftY());
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Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
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Apriltag aprilTag = new Apriltag(limelight, basePilotable,()-> manette1.getLeftY());
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Tape tape = new Tape(limelight, basePilotable, null);
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Tape tape = new Tape(limelight, basePilotable, ()-> manette1.getLeftY());
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PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
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PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
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BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
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BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
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@ -119,8 +119,8 @@ public RobotContainer() {
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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manette1.x().onTrue(brakeOuvre);
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manette1.x().onTrue(brakeOuvre);
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manette1.b().onTrue(brakeFerme);
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manette1.b().onTrue(brakeFerme);
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manette1.leftBumper().toggleOnTrue(aprilTag);
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manette1.leftBumper().whileTrue(aprilTag);
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manette1.rightBumper().toggleOnTrue(tape);
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manette1.rightBumper().whileTrue(tape);
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manette1.povUp().whileTrue(pivoteBrasHaut);
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manette1.povUp().whileTrue(pivoteBrasHaut);
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manette1.povDown().whileTrue(pivoteBrasBas);
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manette1.povDown().whileTrue(pivoteBrasBas);
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manette1.povRight().whileTrue(pivoteBrasMilieux);
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manette1.povRight().whileTrue(pivoteBrasMilieux);
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@ -128,8 +128,8 @@ public RobotContainer() {
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//manette 2
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//manette 2
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manette2.povDown().onTrue(pivotChercheBas);
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manette2.povDown().onTrue(pivotChercheBas);
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manette2.povUp().onTrue(pivotChercheHaut);
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manette2.povUp().onTrue(pivotChercheHaut);
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manette2.rightBumper().toggleOnTrue(cube);
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manette2.rightBumper().whileTrue(cube);
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manette2.leftBumper().toggleOnTrue(cone);
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manette2.leftBumper().whileTrue(cone);
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manette2.y().whileTrue(gyro);
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manette2.y().whileTrue(gyro);
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manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
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manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
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manette2.a().whileTrue(gratteMonte);
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manette2.a().whileTrue(gratteMonte);
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@ -154,9 +154,9 @@ public RobotContainer() {
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new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
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new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
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Commands.waitSeconds(1),
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Commands.waitSeconds(1),
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Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
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Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
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avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
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avancer.unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
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Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
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Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
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)).andThen(new InstantCommand(basePilotable::BrakeOuvre));
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)).andThen(new InstantCommand(basePilotable::BrakeOuvre,basePilotable));
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}
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}
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@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
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// Called every time the scheduler runs while the command is scheduled.
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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@Override
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public void execute() {
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public void execute() {
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basePilotable.drive(-0.5,0);
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basePilotable.drive(-0.4,0);
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}
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}
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// Called once the command ends or is interrupted.
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// Called once the command ends or is interrupted.
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@ -65,7 +65,7 @@ public class PivoteBrasBas extends CommandBase {
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// Returns true when the command should end.
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// Returns true when the command should end.
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@Override
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@Override
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public boolean isFinished() {
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public boolean isFinished() {
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return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<8.5 && pivot.distance()>10.5;
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return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-14.5 && pivot.distance()<8.5 && pivot.distance()>9.5;
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}
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}
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}
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}
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@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
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brasTelescopique.ouvrir();
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brasTelescopique.ouvrir();
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}
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}
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if (pivot.distance()<43.5){
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if (pivot.distance()<43.5){
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pivot.monteDescendre(0.7);
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pivot.monteDescendre(0.6);
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}
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}
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else if(pivot.distance()>44.5) {
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else if(pivot.distance()>44.5) {
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pivot.monteDescendre(-0.7);
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pivot.monteDescendre(-0.6);
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}
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}
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else{
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else{
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pivot.monteDescendre(0);
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pivot.monteDescendre(0);
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@ -47,7 +47,7 @@ public class Limelight extends SubsystemBase {
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public double getYaw() {
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public double getYaw() {
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var result = limelight.getLatestResult();
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var result = limelight.getLatestResult();
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if(result.hasTargets()){
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if(result.hasTargets()){
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return result.getBestTarget().getYaw();
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return -result.getBestTarget().getYaw()/60;
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}
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}
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return 0;
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return 0;
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