PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois 2023-02-20 19:57:40 -05:00
parent fb8978e66c
commit d4a47ec157
2 changed files with 12 additions and 4 deletions
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11
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -13,6 +13,8 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
@ -24,10 +26,12 @@ public class BasePilotable extends SubsystemBase {
final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit); final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche); final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
final DifferentialDrive drive = new DifferentialDrive(gauche, droit); final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
//piston //piston
private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit); private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche); private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
//gyro //gyro
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
public double getpitch() { public double getpitch() {
return gyroscope.getPitch(); return gyroscope.getPitch();
@ -63,7 +67,10 @@ public void BrakeFerme(){
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run 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);
} }
} }

5
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -4,6 +4,7 @@
package frc.robot.subsystems.bras; package frc.robot.subsystems.bras;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@ -26,6 +27,6 @@ public class Pivot extends SubsystemBase {
} }
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
} }
} }