PLS5618/robot-2023
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This commit is contained in:
Antoine PerreaultE 2023-03-07 20:05:55 -05:00
parent 96a7e51978
commit d461720da6
2 changed files with 3 additions and 44 deletions
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21
src/main/java/frc/robot/RobotContainer.java
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@ -32,17 +32,11 @@ import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux; import frc.robot.commands.bras.PivoteBrasMilieux;
<<<<<<< HEAD
import frc.robot.commands.bras.PivotChercheBas; import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut; 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.Cube;
import frc.robot.commands.Cone;
import frc.robot.commands.Tape; import frc.robot.commands.Tape;
=======
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
public class RobotContainer { public class RobotContainer {
//CameraServer.startAutomaticCapture(); //CameraServer.startAutomaticCapture();
@ -84,15 +78,11 @@ public RobotContainer() {
} }
private void configureBindings() { private void configureBindings() {
<<<<<<< HEAD
// manette 1 // manette 1
=======
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
manette1.y().whileTrue(gyro); manette1.y().whileTrue(gyro);
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
<<<<<<< HEAD
manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
manette1.leftBumper().toggleOnTrue(aprilTag); manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.rightBumper().toggleOnTrue(tape); manette1.rightBumper().toggleOnTrue(tape);
@ -105,17 +95,6 @@ public RobotContainer() {
manette2.povLeft().onTrue(pivotChercheHaut); manette2.povLeft().onTrue(pivotChercheHaut);
manette2.rightBumper().toggleOnTrue(cube); manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone); 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
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {

22
src/main/java/frc/robot/subsystems/Gratte.java
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@ -3,13 +3,7 @@
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems; package frc.robot.subsystems;
import edu.wpi.first.wpilibj2.command.SubsystemBase; 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 com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@ -53,22 +47,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
public boolean basg(){ public boolean basg(){
return limitbg.get(); return limitbg.get();
} }
/** Creates a new Gratte. */
<<<<<<< HEAD
public Gratte() {
}
=======
public Gratte() { public Gratte() {
limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1); limitswitchgratte.add ("limitbg", 0.1);
} }
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
public void Lever(double vitesse){ public void Lever(double vitesse){
Gratted.set(vitesse); Gratted.set(vitesse);
Gratteg.set(vitesse); Gratteg.set(vitesse);
@ -78,15 +63,10 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
Gratteg.set(-vitesse); Gratteg.set(-vitesse);
} }
@Override @Override
<<<<<<< HEAD
public void periodic(){ public void periodic(){
limitswitchgratte.add ("limitbd", 0.1); limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1); limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1); limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1); limitswitchgratte.add ("limitbg", 0.1);
======= }
public void periodic() {
>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
}
} }