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

networktables.json

@@ -0,0 +1 @@
+

src/main/java/frc/robot/commands/bras/PivotChercheBas.java

@@ -0,0 +1,59 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotChercheBas extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotChercheBas. */
+  public PivotChercheBas(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // 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() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
+
+  // 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/bras/PivotChercheHaut.java

@@ -0,0 +1,59 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotChercheHaut extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotChercheHaut. */
+  public PivotChercheHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // 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() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+  }
+
+  // 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

@@ -13,6 +13,8 @@ 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.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -24,10 +26,12 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
+  
   //piston
   private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -67,7 +71,10 @@ public void resetGyro(){
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    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);
   }
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -33,5 +33,6 @@ public class BrasTelescopique extends SubsystemBase {
   @Override
   public void periodic() {
     Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
   }
 }

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -36,4 +36,6 @@ public class Pivot extends SubsystemBase {
   public void periodic() {
     Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
   }
+    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
  }
+