PLS5618/robot-2023
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This commit is contained in:
EdwardFaucher
2023-03-07 19:13:16 -05:00
parent f8b7d9c61d
commit de668cfe2e
5 changed files with 43 additions and 62 deletions
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10
src/main/java/frc/robot/Constants.java
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@ -1,12 +1,12 @@
package frc.robot; package frc.robot;
public class Constants { public class Constants {
public static int avantdroit = 0; public static int avantdroit = 1;
public static int avantgauche = 1; public static int avantgauche = 4;
public static int arrieredroit = 2; public static int arrieredroit = 3;
public static int arrieregauche = 3; public static int arrieregauche = 5;
public static int BrasTelescopique = 4; public static int BrasTelescopique = 4;
public static int pivot = 5; public static int pivot = 0;
//moteur //moteur
public static int leverGratte = 0; public static int leverGratte = 0;

71
src/main/java/frc/robot/RobotContainer.java
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@ -6,18 +6,9 @@ package frc.robot;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; 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.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; 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 // command
import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre; 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.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;
import frc.robot.commands.bras.PivotChercheBas; //subsystems
import frc.robot.commands.bras.PivotChercheHaut; import frc.robot.subsystems.BasePilotable;
import edu.wpi.first.apriltag.AprilTag;
import frc.robot.commands.Cube;
import frc.robot.commands.Cone;
import frc.robot.commands.Tape;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1); CommandXboxController manette2 = new CommandXboxController(1);
// subsystems // subsystems
BasePilotable basePilotable = new BasePilotable(); BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte(); /*Gratte gratte = new Gratte();
BrasTelescopique brasTelescopique = new BrasTelescopique(); BrasTelescopique brasTelescopique = new BrasTelescopique();
Pince pince = new Pince(); Pince pince = new Pince();
Pivot pivot = new Pivot(); Pivot pivot = new Pivot();
Limelight limelight = new Limelight(); Limelight limelight = new Limelight();/** */
//commands //commands
BrakeFerme brakeFerme = new BrakeFerme(basePilotable); //BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable); //BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
GratteBaisser gratteBaisser = new GratteBaisser(gratte); //GratteBaisser gratteBaisser = new GratteBaisser(gratte);
GratteMonte gratteMonte = new GratteMonte(gratte); //GratteMonte gratteMonte = new GratteMonte(gratte);
Gyro gyro = new Gyro(basePilotable); Gyro gyro = new Gyro(basePilotable);
FermePince fermePince = new FermePince(pince); /*FermePince fermePince = new FermePince(pince);
OuvrePince ouvrePince = new OuvrePince(pince); OuvrePince ouvrePince = new OuvrePince(pince);
PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot); PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot); PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot); PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(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() { public RobotContainer() {
configureBindings(); configureBindings();
}
basePilotable.setDefaultCommand(new RunCommand(() -> {
basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
},basePilotable));
}
private void configureBindings() { 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.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
manette1.y().whileTrue(gyro); manette1.y().whileTrue(gyro);
<<<<<<< HEAD
// manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
=======
>>>>>>> 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); 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.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique)); manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique)); manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique)); manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique)); manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique)); manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));*/
manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null)); // 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() { public Command getAutonomousCommand() {
return new SequentialCommandGroup( return null;
new PivoteBrasMilieux(brasTelescopique, pivot), //return new SequentialCommandGroup(
new OuvrePince(pince), //new PivoteBrasMilieux(brasTelescopique, pivot),
new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), //new OuvrePince(pince),
new Gyro(basePilotable) //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
); //new Gyro(basePilotable)
//);
} }
} }

8
src/main/java/frc/robot/commands/Gyro.java
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@ -23,13 +23,13 @@ public class Gyro extends CommandBase {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { 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 else
{ {

14
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -71,12 +71,12 @@ public void resetGyro(){
@Override @Override
public void periodic() { public void periodic() {
teb .add("encodeuravantdroit",0.1); //teb .add("encodeuravantdroit",0.1);
teb .add("encodeurarrieregauche",0.1); //teb .add("encodeurarrieregauche",0.1);
teb .add("encodeurarrieredroit",0.1); //teb .add("encodeurarrieredroit",0.1);
teb .add("encodeuravantgauche",0.1); //teb .add("encodeuravantgauche",0.1);
teb .add("distance",0.1); //teb .add("distance",0.1);
teb .add("brakedroit",0.1); //teb .add("brakedroit",0.1);
teb .add("brakegauche", 0.1); //teb .add("brakegauche", 0.1);
} }
} }

2
src/main/java/frc/robot/subsystems/bras/Pince.java
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@ -8,8 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value; 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; import frc.robot.Constants;