diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class new file mode 100644 index 0000000..9d83fb8 Binary files /dev/null and b/bin/main/frc/robot/subsystems/BasePilotable.class differ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 669f3f5..43c48c1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -3,11 +3,16 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot; +import java.util.Map; + import edu.wpi.first.cameraserver.CameraServer; +import edu.wpi.first.networktables.GenericEntry; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; //subsystems @@ -25,7 +30,6 @@ import frc.robot.commands.Cone; import frc.robot.commands.GratteBaisser; import frc.robot.commands.GratteMonte; import frc.robot.commands.Gyro; -import frc.robot.commands.Reculer; import frc.robot.commands.bras.FermePince; import frc.robot.commands.bras.OuvrePince; import frc.robot.commands.bras.PivotBrasRentre; @@ -33,7 +37,6 @@ import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; //subsystems -import frc.robot.subsystems.BasePilotable; import frc.robot.commands.bras.PivotChercheBas; import frc.robot.commands.bras.PivotChercheHaut; import frc.robot.commands.Cube; @@ -41,7 +44,11 @@ import frc.robot.commands.Tape; public class RobotContainer { +<<<<<<< HEAD + +======= //CameraServer.startAutomaticCapture(); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems @@ -64,6 +71,16 @@ 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()); +Reculer reculer = new Reculer(basePilotable); + +SendableChooser chooser = new SendableChooser<>(); +String enhaut = "en bas"; +String aumilieux = "au milieux"; +String enbas = "en bas"; +String nulpart = "nul part"; +ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto"); +GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry(); +GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry(); PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot); PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot); Cube cube = new Cube(limelight, basePilotable, null); @@ -71,16 +88,25 @@ Apriltag aprilTag = new Apriltag(limelight, basePilotable, null); Tape tape = new Tape(limelight, basePilotable, null); public RobotContainer() { + chooser.setDefaultOption(enhaut, enhaut); + chooser.addOption(enbas, enbas); + chooser.addOption(aumilieux, aumilieux); + chooser.addOption(nulpart, nulpart); + layoutauto.add("choix hauteur",chooser); + + configureBindings(); CameraServer.startAutomaticCapture(); basePilotable.setDefaultCommand(new RunCommand(() -> { - basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX()); + basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0); },basePilotable)); } private void configureBindings() { - + basePilotable.setDefaultCommand(new RunCommand(() -> { + basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX(), 0); + },basePilotable)); // manette 1 manette1.povDown().onTrue(pivoteBrasHaut); manette1.povUp().onTrue(pivoteBrasBas); @@ -88,6 +114,38 @@ public RobotContainer() { manette1.povRight().onTrue(pivotBrasRentre); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); +<<<<<<< HEAD + manette1.y().whileTrue(gyro); + manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); + /*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));**/ + manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null)); + + } + + public Command getAutonomousCommand() { + chooser.getSelected(); + autobalance.getBoolean(true); + return new SequentialCommandGroup( + Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)), + Commands.either(reculer, Commands.none(),()-> autosortir.getBoolean(true)), + Commands.select(Map.ofEntries( + Map.entry(enhaut,pivoteBrasHaut), + Map.entry(aumilieux,null), + Map.entry(enbas,null), + Map.entry(nulpart,null) + ), chooser::getSelected) + ); + + +======= manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); manette1.leftBumper().toggleOnTrue(cube); manette1.rightBumper().toggleOnTrue(cone); @@ -108,5 +166,6 @@ public RobotContainer() { //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), //new Gyro(basePilotable) //); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e } } diff --git a/src/main/java/frc/robot/commands/Apriltag.java b/src/main/java/frc/robot/commands/Apriltag.java index 9ef54b3..3ef6b06 100644 --- a/src/main/java/frc/robot/commands/Apriltag.java +++ b/src/main/java/frc/robot/commands/Apriltag.java @@ -32,7 +32,7 @@ public class Apriltag extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Cone.java b/src/main/java/frc/robot/commands/Cone.java index d780293..8121b19 100644 --- a/src/main/java/frc/robot/commands/Cone.java +++ b/src/main/java/frc/robot/commands/Cone.java @@ -32,7 +32,7 @@ public class Cone extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Cube.java b/src/main/java/frc/robot/commands/Cube.java index d54839e..2bd023f 100644 --- a/src/main/java/frc/robot/commands/Cube.java +++ b/src/main/java/frc/robot/commands/Cube.java @@ -32,7 +32,7 @@ public class Cube extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index 9665ecb..6a758d0 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -28,22 +28,22 @@ public class Gyro extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(basePilotable.getpitch()>4) + if(basePilotable.getpitch()>10) { - basePilotable.drive(0.3*basePilotable.getpitch()/12, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0); + } + else if(basePilotable.getpitch()<-10) + { + basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0); } else if(basePilotable.getpitch()<-4) { - basePilotable.drive(0.3*basePilotable.getpitch()/12, 0); - basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); - } - else if(basePilotable.getpitch()<-4) - { - basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0); } else { - basePilotable.drive(0, 0); + basePilotable.drive(0, 0, 0); } } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java index 7ff9989..674ef40 100644 --- a/src/main/java/frc/robot/commands/Reculer.java +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -27,7 +27,7 @@ public class Reculer extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0); + basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Tape.java b/src/main/java/frc/robot/commands/Tape.java index e1346f0..e240da4 100644 --- a/src/main/java/frc/robot/commands/Tape.java +++ b/src/main/java/frc/robot/commands/Tape.java @@ -32,7 +32,7 @@ public class Tape extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 9c1b909..cc90ca1 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -7,22 +7,25 @@ package frc.robot.subsystems; import com.kauailabs.navx.frc.AHRS; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BasePilotable extends SubsystemBase { - final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless); + final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless); final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless); final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless); final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless); - final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit); + final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit); final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche); final DifferentialDrive drive = new DifferentialDrive(gauche, droit); @@ -31,26 +34,35 @@ public class BasePilotable extends SubsystemBase { private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche); //gyro ShuffleboardTab teb = Shuffleboard.getTab("teb"); + ShuffleboardLayout layout = Shuffleboard.getTab("teb") + .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList) + .withSize(2, 2); private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} public double getpitch() { return gyroscope.getPitch(); } - public void drive(double xSpeed, double zRotation){ + public void drive(double xSpeed, double zRotation, int i){ drive.arcadeDrive(xSpeed, zRotation); } public double distance(){ - return (-avantd.getEncoder().getPosition() + teb .add ("distance",0.1); + return (-avantdroit.getEncoder().getPosition() +avantgauche.getEncoder().getPosition() -arrieredroit.getEncoder().getPosition() +arrieregauche.getEncoder().getPosition()) / 4; } public void Reset() { - avantd.getEncoder().setPosition(0); + avantdroit.getEncoder().setPosition(0); avantgauche.getEncoder().setPosition(0); arrieredroit.getEncoder().setPosition(0); arrieregauche.getEncoder().setPosition(0); } + public void resetGyro(){ + {gyroscope.reset(); + } + } + public void BrakeOuvre(){ brakedroit.set(Value.kForward); brakegauche.set(Value.kForward); @@ -59,24 +71,13 @@ public void BrakeFerme(){ brakedroit.set(Value.kReverse); brakegauche.set(Value.kReverse); } -public void resetGyro(){ - {gyroscope.reset();} - } /** Creates a new BasePilotable. */ public BasePilotable() { droit.setInverted(true); - teb .addDouble("distance", this::distance); } @Override public void periodic() { - //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); - //teb .add("brakedroit",0.1); - //teb .add("brakegauche", 0.1); - + } -} \ No newline at end of file +} diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index a90d859..acf7ede 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -13,7 +13,11 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { +<<<<<<< HEAD + ShuffleboardTab teb = Shuffleboard.getTab("teb"); +======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index c6f6e5b..1ffdf3d 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -18,7 +18,18 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { +<<<<<<< HEAD + ShuffleboardTab teb = Shuffleboard.getTab("teb"); + ShuffleboardLayout layout = Shuffleboard.getTab("teb") + .getLayout("layout", BuiltInLayouts.kList) + .withSize(2, 2); + +ShuffleboardLayout bras = Shuffleboard.getTab("teb") +.getLayout("bras", BuiltInLayouts.kList) +.withSize(2, 2); +======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e /** Creates a new BrasTelescopique. */ public BrasTelescopique() { teb .add("photocell",0.1); diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index 7fa1c28..0db4639 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,8 +14,12 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { +<<<<<<< HEAD + ShuffleboardTab teb = Shuffleboard.getTab("teb"); +======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -42,5 +46,16 @@ public class Pivot extends SubsystemBase { @Override public void periodic() { } +<<<<<<< HEAD + + + + + { + teb.add ("encodeur pivot",0.1); + } +} +======= } +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e