From de668cfe2e2f69ecdb62720f20a0765725b4d13e Mon Sep 17 00:00:00 2001 From: EdwardFaucher Date: Tue, 7 Mar 2023 19:13:16 -0500 Subject: [PATCH] mhc n --- src/main/java/frc/robot/Constants.java | 10 +-- src/main/java/frc/robot/RobotContainer.java | 71 +++++++------------ src/main/java/frc/robot/commands/Gyro.java | 8 +-- .../frc/robot/subsystems/BasePilotable.java | 14 ++-- .../java/frc/robot/subsystems/bras/Pince.java | 2 - 5 files changed, 43 insertions(+), 62 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1518cc8..8bfd25c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,12 +1,12 @@ package frc.robot; public class Constants { - public static int avantdroit = 0; - public static int avantgauche = 1; - public static int arrieredroit = 2; - public static int arrieregauche = 3; + public static int avantdroit = 1; + public static int avantgauche = 4; + public static int arrieredroit = 3; + public static int arrieregauche = 5; public static int BrasTelescopique = 4; - public static int pivot = 5; + public static int pivot = 0; //moteur public static int leverGratte = 0; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a68150c..910ae33 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,18 +6,9 @@ package frc.robot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; - -//subsystems -import frc.robot.subsystems.BasePilotable; -import frc.robot.subsystems.Gratte; -import frc.robot.subsystems.bras.BrasTelescopique; -import frc.robot.subsystems.bras.Pince; -import frc.robot.subsystems.bras.Pivot; -import pabeles.concurrency.ConcurrencyOps.Reset; -import frc.robot.subsystems.Limelight; // command import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeOuvre; @@ -32,71 +23,63 @@ import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; -import frc.robot.commands.bras.PivotChercheBas; -import frc.robot.commands.bras.PivotChercheHaut; -import edu.wpi.first.apriltag.AprilTag; -import frc.robot.commands.Cube; -import frc.robot.commands.Cone; -import frc.robot.commands.Tape; +//subsystems +import frc.robot.subsystems.BasePilotable; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems BasePilotable basePilotable = new BasePilotable(); -Gratte gratte = new Gratte(); +/*Gratte gratte = new Gratte(); BrasTelescopique brasTelescopique = new BrasTelescopique(); Pince pince = new Pince(); Pivot pivot = new Pivot(); -Limelight limelight = new Limelight(); +Limelight limelight = new Limelight();/** */ //commands -BrakeFerme brakeFerme = new BrakeFerme(basePilotable); -BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable); -GratteBaisser gratteBaisser = new GratteBaisser(gratte); -GratteMonte gratteMonte = new GratteMonte(gratte); +//BrakeFerme brakeFerme = new BrakeFerme(basePilotable); +//BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable); +//GratteBaisser gratteBaisser = new GratteBaisser(gratte); +//GratteMonte gratteMonte = new GratteMonte(gratte); Gyro gyro = new Gyro(basePilotable); -FermePince fermePince = new FermePince(pince); +/*FermePince fermePince = new FermePince(pince); OuvrePince ouvrePince = new OuvrePince(pince); PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot); 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()); +Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());**/ public RobotContainer() { configureBindings(); - - basePilotable.setDefaultCommand(new RunCommand(() -> { - basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX()); - },basePilotable)); - -} + } private void configureBindings() { - manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); + basePilotable.setDefaultCommand(new RunCommand(() -> { + basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX()); + },basePilotable)); + //manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.y().whileTrue(gyro); -<<<<<<< HEAD // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); -======= ->>>>>>> 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7 manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); - manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); + /** 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.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)); } public Command getAutonomousCommand() { - return new SequentialCommandGroup( - new PivoteBrasMilieux(brasTelescopique, pivot), - new OuvrePince(pince), - new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), - new Gyro(basePilotable) - ); + return null; + //return new SequentialCommandGroup( + //new PivoteBrasMilieux(brasTelescopique, pivot), + //new OuvrePince(pince), + //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), + //new Gyro(basePilotable) + //); } } diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index dcb7893..d38b4a2 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -23,13 +23,13 @@ public class Gyro extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(basePilotable.getpitch()<10) + if(basePilotable.getpitch()>4) { - basePilotable.drive(0.4, 0); + basePilotable.drive(0.3, 0); } - else if(basePilotable.getpitch()>-10) + else if(basePilotable.getpitch()<-4) { - basePilotable.drive(-0.4, 0); + basePilotable.drive(-0.3, 0); } else { diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index b628ceb..c3daf2e 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -71,12 +71,12 @@ public void resetGyro(){ @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); + //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/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index 62022de..6044d4c 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/src/main/java/frc/robot/subsystems/bras/Pince.java @@ -8,8 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants;