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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;
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;

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.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)
//);
}
}

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.
@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
{

14
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -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);
}
}

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.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;