Merge branch 'main' of https://demerso.net/pls5618/2023/robot

src/main/java/frc/robot/Constants.java

@@ -12,7 +12,9 @@ public class Constants {
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-     public static int actuateur = 4;
+     public static int actuateur = 2;
+     public static int brakedroit = 3;
+     public static int brakegauche = 4;
     // DIO
     public static int limitbd = 0;
     public static int limitbg = 2;

src/main/java/frc/robot/commands/GratteBaisser.java

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Gratte;
+
+public class GratteBaisser extends CommandBase {
+  private Gratte gratte;
+  /** Creates a new GratteBaisser. */
+  public GratteBaisser(Gratte gratte) {
+    this.gratte = gratte;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(gratte);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    gratte.baiser(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/GratteMonte.java

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Gratte;
+
+public class GratteMonte extends CommandBase {
+  private Gratte gratte;
+  /** Creates a new GratteMonte. */
+  public GratteMonte(Gratte gratte) {
+    this.gratte = gratte;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(gratte);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    gratte.Lever(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -6,6 +6,9 @@ package frc.robot.subsystems;
 
 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.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -16,7 +19,8 @@ public class BasePilotable extends SubsystemBase {
   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);
-
+  private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
+  private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
   final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
 

src/main/java/frc/robot/subsystems/Gratte.java

@@ -19,8 +19,8 @@ import frc.robot.Constants;
 
 
 public class Gratte extends SubsystemBase {
-  private WPI_TalonSRX baisserGratte = new WPI_TalonSRX(Constants.leverGratte);  
-  private WPI_TalonSRX leverGratte = new WPI_TalonSRX(Constants.baisserGratte);
+  private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
+  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@@ -41,9 +41,13 @@ public class Gratte extends SubsystemBase {
   }
   /** Creates a new Gratte. */
   public Gratte() {}
-  public void BaisserLever(double vitesse){
-    baisserGratte.set(vitesse);
-    leverGratte.set(vitesse);
+  public void Lever(double vitesse){
+    Gratted.set(vitesse);
+    Gratteg.set(vitesse);
+  }
+  public void baiser(double vitesse){
+    Gratted.set(-vitesse);
+    Gratteg.set(-vitesse);
   }
   @Override
   public void periodic() {