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This commit is contained in:
samuel desharnais 2023-03-20 17:53:06 -04:00
commit f2d10b20f1
25 changed files with 393 additions and 195 deletions
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4
simgui.json
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@ -1,7 +1,9 @@
{
"NTProvider": {
"types": {
"/FMSInfo": "FMSInfo"
"/FMSInfo": "FMSInfo",
"/Shuffleboard/teb/DifferentialDrive[1]": "DifferentialDrive",
"/Shuffleboard/teb/auto/choix hauteur": "String Chooser"
}
},
"NetworkTables": {

34
src/main/java/frc/robot/Constants.java
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@ -1,31 +1,33 @@
package frc.robot;
public class Constants {
public static int avantdroit = 1;
public static int avantgauche = 4;
public static int avantdroit = 4;
public static int avantgauche = 6;
public static int arrieredroit = 3;
public static int arrieregauche = 5;
public static int BrasTelescopique = 2;
public static int pivot = 0;
public static int BrasTelescopique = 1;
public static int pivot = 2;
//moteur
public static int leverGratte = 0;
public static int baiserGratte = 1;
public static int GratteD = 7;
public static int GratteG = 8;
// pneumatique
public static int pistonpinceouvre = 0;
public static int pistonpinceferme = 1;
public static int actuateur = 8;
public static int brakedroit = 3;
public static int brakegauche = 4;
public static int brakewinchf = 5;
public static int brakewinchb = 5;
public static int brakeouvre = 5;
public static int brakeferme = 4;
public static int brakewinchf = 3;
public static int brakewinchb = 2;
// DIO
public static int limitbd = 0;
public static int limitbg = 2;
public static int limithd = 3;
public static int limithg = 1;
public static int photocell = 4;
public static int limitbd = 2;
public static int limitbg = 4;
public static int limithd = 1;
public static int limithg = 3;
public static int photocell = 0;
public static int limitpivot = 5;

95
src/main/java/frc/robot/RobotContainer.java
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@ -4,6 +4,7 @@
package frc.robot;
import java.util.Map;
import java.util.function.DoubleSupplier;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.GenericEntry;
@ -14,8 +15,9 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
//subsystems
@ -25,17 +27,25 @@ import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
import frc.robot.commands.Avancer;
// command
import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.Cone;
import frc.robot.commands.Cube;
import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
import frc.robot.commands.Reculer;
import frc.robot.commands.Tape;
import frc.robot.commands.bras.BrasManuel;
import frc.robot.commands.bras.FermePince;
import frc.robot.commands.bras.OuvrePince;
import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import frc.robot.commands.bras.PivotManuel;
import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux;
@ -45,6 +55,19 @@ public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
SendableChooser<String> chooser = new SendableChooser<>();
String enhaut = "en haut";
String aumilieux = "au milieux";
String enbas = "en bas";
String nulpart = "nul part";
ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",BuiltInLayouts.kList)
.withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
// subsystems
BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte();
@ -65,7 +88,17 @@ 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());
Reculer reculer = new Reculer(basePilotable);
Reculer reculers = new Reculer(basePilotable, ()->reculerdistances.getDouble(0));
Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0));
Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, null);
PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
SendableChooser<String> chooser = new SendableChooser<>();
String enhaut = "en bas";
@ -82,31 +115,33 @@ public RobotContainer() {
chooser.addOption(aumilieux, aumilieux);
chooser.addOption(nulpart, nulpart);
layoutauto.add("choix hauteur",chooser);
configureBindings();
CameraServer.startAutomaticCapture();
basePilotable.setDefaultCommand(new RunCommand(() -> {
basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
},basePilotable));
}
basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
}, basePilotable));
brasTelescopique.setDefaultCommand(brasManuel);
pivot.setDefaultCommand(pivotManuel);
}
private void configureBindings() {
// manette 1
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
manette1.y().whileTrue(gyro);
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
/*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.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.rightBumper().toggleOnTrue(tape);
manette1.povUp().whileTrue(pivoteBrasHaut);
manette1.povDown().whileTrue(pivoteBrasBas);
manette1.povRight().whileTrue(pivoteBrasMilieux);
manette1.povLeft().whileTrue(pivotBrasRentre);
//manette 2
manette2.povDown().onTrue(pivotChercheBas);
manette2.povUp().onTrue(pivotChercheHaut);
manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone);
manette2.y().whileTrue(gyro);
manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
manette2.a().whileTrue(gratteMonte);
manette2.b().whileTrue(gratteBaisser);
}
@ -114,15 +149,17 @@ public RobotContainer() {
chooser.getSelected();
autobalance.getBoolean(true);
return new SequentialCommandGroup(
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)),
Commands.either(reculer, Commands.none(),()-> autosortir.getBoolean(true)),
Commands.select(Map.ofEntries(
Map.entry(enhaut,pivoteBrasHaut),
Map.entry(aumilieux,null),
Map.entry(enbas,null),
Map.entry(nulpart,null)
), chooser::getSelected)
);
Map.entry(aumilieux,pivoteBrasMilieux),
Map.entry(enbas,pivoteBrasBas),
Map.entry(nulpart,pivotBrasRentre)
), chooser::getSelected),
ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
}

2
src/main/java/frc/robot/commands/Apriltag.java
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@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
}
// Called once the command ends or is interrupted.

48
src/main/java/frc/robot/commands/Avancer.java Normal file
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@ -0,0 +1,48 @@
// 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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable;
public class Avancer extends CommandBase {
BasePilotable basePilotable;
DoubleSupplier distance;
/** Creates a new Reculer. */
public Avancer(BasePilotable basePilotable, DoubleSupplier distance) {
this.basePilotable = basePilotable;
this.distance = distance;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
basePilotable.Reset();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(0.3,0);
}
// 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 basePilotable.distance()>distance.getAsDouble();
}
}

2
src/main/java/frc/robot/commands/Cone.java
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@ -32,7 +32,7 @@ public class Cone extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
}
// Called once the command ends or is interrupted.

2
src/main/java/frc/robot/commands/Cube.java
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@ -32,7 +32,7 @@ public class Cube extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
}
// Called once the command ends or is interrupted.

14
src/main/java/frc/robot/commands/GratteBaisser.java
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@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Gratte;
@ -26,16 +27,16 @@ public class GratteBaisser extends CommandBase {
@Override
public void execute() {
if(gratte.basd()){
gratte.baiser(0);
gratte.baiserd(0);
}
else{
gratte.baiser(0.5);
gratte.baiserd(0.5);
}
if(gratte.basg()){
gratte.baiser(0);
gratte.baiserg(0);
}
else{
gratte.baiser(0.5);
gratte.baiserg(0.5);
}
@ -43,7 +44,10 @@ public class GratteBaisser extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
gratte.baiserd(0);
gratte.baiserg(0);
}
// Returns true when the command should end.
@Override

14
src/main/java/frc/robot/commands/GratteMonte.java
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@ -5,6 +5,7 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Gratte;
@ -27,22 +28,25 @@ public class GratteMonte extends CommandBase {
@Override
public void execute() {
if(gratte.hautd()){
gratte.Lever(0.5);
gratte.Leverd(0);
}
else{
gratte.Lever(0.5);
gratte.Leverd(0.5);
}
if(gratte.hautg()) {
gratte.Lever(0.5);
gratte.Leverg(0);
}
else{
gratte.Lever(0.5);
gratte.Leverg(0.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
gratte.Leverd(0);
gratte.Leverg(0);
}
// Returns true when the command should end.
@Override

18
src/main/java/frc/robot/commands/Gyro.java
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@ -10,12 +10,9 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable;
public class Gyro extends CommandBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private BasePilotable basePilotable;
/** Creates a new Gyro. */
public Gyro(BasePilotable basePilotable) {
teb.add("angleGyro", 0.1);
teb.add("vitesseGyro", 0.1);
this.basePilotable = basePilotable;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
@ -28,22 +25,17 @@ 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()>6)
{
basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
}
else if(basePilotable.getpitch()<-10)
else if(basePilotable.getpitch()<-6)
{
basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
}
else if(basePilotable.getpitch()<-4)
{
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
}
else
{
basePilotable.drive(0, 0, 0);
basePilotable.drive(0, 0);
}
}

11
src/main/java/frc/robot/commands/Reculer.java
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@ -5,15 +5,18 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable;
public class Reculer extends CommandBase {
BasePilotable basePilotable;
DoubleSupplier distance;
/** Creates a new Reculer. */
public Reculer(BasePilotable basePilotable) {
public Reculer(BasePilotable basePilotable, DoubleSupplier distance) {
this.basePilotable = basePilotable;
this.distance = distance;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
}
@ -27,7 +30,7 @@ public class Reculer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0);
basePilotable.drive(-0.3,0);
}
// Called once the command ends or is interrupted.
@ -37,6 +40,6 @@ public class Reculer extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
return basePilotable.distance()<distance.getAsDouble();
}
}

2
src/main/java/frc/robot/commands/Tape.java
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@ -32,7 +32,7 @@ public class Tape extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
}
// Called once the command ends or is interrupted.

44
src/main/java/frc/robot/commands/bras/BrasManuel.java Normal file
View File

@ -0,0 +1,44 @@
// 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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.bras.BrasTelescopique;
public class BrasManuel extends CommandBase {
private BrasTelescopique brasTelescopique;
private DoubleSupplier doubleSupplier;
/** Creates a new BrasManuel. */
public BrasManuel(BrasTelescopique brasTelescopique,DoubleSupplier doubleSupplier) {
this.brasTelescopique = brasTelescopique;
this.doubleSupplier = doubleSupplier;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(brasTelescopique);
}
// 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() {
brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
}
// 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;
}
}

25
src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
View File

@ -22,38 +22,37 @@ public class PivotBrasRentre extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
brasTelescopique.fermer();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()>1){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
if (pivot.distance()>1){
pivot.monteDescendre(0.5);
}
else if(brasTelescopique.photocell()){
if(brasTelescopique.photocell()){
brasTelescopique.ouvrir();
brasTelescopique.Reset();
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
else{
brasTelescopique.AvanceRecule(0.5);
}
if(pivot.limitpivot()){
if(pivot.limitpivot()){
pivot.Reset();
pivot.monteDescendre(0);
}
else{
pivot.monteDescendre(0.5);
pivot.monteDescendre(-0.3);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
brasTelescopique.AvanceRecule(0);
pivot.monteDescendre(0);
brasTelescopique.ouvrir();
}
// Returns true when the command should end.
@Override

26
src/main/java/frc/robot/commands/bras/PivotChercheBas.java
View File

@ -22,27 +22,29 @@ public class PivotChercheBas extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
brasTelescopique.fermer();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
if(brasTelescopique.distance()>-17.5){
brasTelescopique.AvanceRecule(-0.2);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
else if(brasTelescopique.distance()<-19.5) {
brasTelescopique.AvanceRecule(0.2);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
if (pivot.distance()<8.5){
pivot.monteDescendre(0.3);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
else if(pivot.distance()>10.5) {
pivot.monteDescendre(-0.3);
}
else{
pivot.monteDescendre(0);
@ -51,7 +53,11 @@ public class PivotChercheBas extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
brasTelescopique.AvanceRecule(0);
pivot.monteDescendre(0);
brasTelescopique.fermer();
}
// Returns true when the command should end.
@Override

33
src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
View File

@ -22,27 +22,26 @@ public class PivotChercheHaut extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
brasTelescopique.fermer();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
}
else {
brasTelescopique.AvanceRecule(0);
if(brasTelescopique.photocell()){
brasTelescopique.ouvrir();
brasTelescopique.Reset();
brasTelescopique.AvanceRecule(0);
}
else{
brasTelescopique.AvanceRecule(0.3);
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
if (pivot.distance()<43.5){
pivot.monteDescendre(0.4);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
else if(pivot.distance()>44.5) {
pivot.monteDescendre(-0.4);
}
else{
pivot.monteDescendre(0);
@ -51,7 +50,11 @@ public class PivotChercheHaut extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
brasTelescopique.AvanceRecule(0);
pivot.monteDescendre(0);
brasTelescopique.ouvrir();
}
// Returns true when the command should end.
@Override

42
src/main/java/frc/robot/commands/bras/PivotManuel.java Normal file
View File

@ -0,0 +1,42 @@
// 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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.bras.Pivot;
public class PivotManuel extends CommandBase {
private Pivot pivot;
private DoubleSupplier doubleSupplier;
/** Creates a new PivotManuel. */
public PivotManuel(Pivot pivot,DoubleSupplier doubleSupplier) {
this.pivot = pivot;
this.doubleSupplier = doubleSupplier;
// Use addRequirements() here to declare subsystem dependencies.
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() {
pivot.monteDescendre(doubleSupplier.getAsDouble());
}
// 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;
}
}

26
src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
View File

@ -24,27 +24,29 @@ public class PivoteBrasBas extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
brasTelescopique.fermer();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
if(brasTelescopique.distance()>-13.5){
brasTelescopique.AvanceRecule(-0.2);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
else if(brasTelescopique.distance()<-15.5) {
brasTelescopique.AvanceRecule(0.2);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
if (pivot.distance()<8.5){
pivot.monteDescendre(0.3);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
else if(pivot.distance()>10.5) {
pivot.monteDescendre(-0.3);
}
else{
pivot.monteDescendre(0);
@ -55,7 +57,11 @@ public class PivoteBrasBas extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
brasTelescopique.AvanceRecule(0);
pivot.monteDescendre(0);
brasTelescopique.ouvrir();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {

26
src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
View File

@ -22,27 +22,29 @@ public class PivoteBrasHaut extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
brasTelescopique.fermer();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
if(brasTelescopique.distance()>-39.5){
brasTelescopique.AvanceRecule(-0.15);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
else if(brasTelescopique.distance()<41.5) {
brasTelescopique.AvanceRecule(-0.15);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
if (pivot.distance()<50.5){
pivot.monteDescendre(0.4);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
else if(pivot.distance()>52.5) {
pivot.monteDescendre(-0.4);
}
else{
pivot.monteDescendre(0);
@ -51,7 +53,11 @@ public class PivoteBrasHaut extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
brasTelescopique.AvanceRecule(0);
pivot.monteDescendre(0);
brasTelescopique.ouvrir();
}
// Returns true when the command should end.
@Override

26
src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
View File

@ -22,27 +22,29 @@ public class PivoteBrasMilieux extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
brasTelescopique.fermer();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(brasTelescopique.distance()<10){
brasTelescopique.AvanceRecule(0.5);
if(brasTelescopique.distance()>-16.5){
brasTelescopique.AvanceRecule(-0.2);
brasTelescopique.fermer();
}
else if(brasTelescopique.distance()>11) {
brasTelescopique.AvanceRecule(-0.5);
else if(brasTelescopique.distance()<-17.5) {
brasTelescopique.AvanceRecule(0.2);
}
else {
brasTelescopique.AvanceRecule(0);
brasTelescopique.ouvrir();
}
if (pivot.distance()<10){
pivot.monteDescendre(0.5);
if (pivot.distance()<43.5){
pivot.monteDescendre(0.4);
}
else if(pivot.distance()>11) {
pivot.monteDescendre(-0.5);
else if(pivot.distance()>44.5) {
pivot.monteDescendre(-0.4);
}
else{
pivot.monteDescendre(0);
@ -52,7 +54,11 @@ public class PivoteBrasMilieux extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
brasTelescopique.AvanceRecule(0);
pivot.monteDescendre(0);
brasTelescopique.ouvrir();
}
// Returns true when the command should end.
@Override

32
src/main/java/frc/robot/subsystems/BasePilotable.java
View File

@ -13,9 +13,7 @@ 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.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
@ -30,23 +28,21 @@ public class BasePilotable extends SubsystemBase {
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);
private DoubleSolenoid brake = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakeouvre, Constants.brakeferme);
//gyro
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
.withSize(2, 2);
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
double pitchoffset = 0;
private AHRS gyroscope = new AHRS();
public double getpitch() {
return gyroscope.getPitch();
return -gyroscope.getPitch() + pitchoffset;
}
public void drive(double xSpeed, double zRotation, int i){
public void drive(double xSpeed, double zRotation){
drive.arcadeDrive(xSpeed, zRotation);
}
public double distance(){
teb .add ("distance",0.1);
return (-avantdroit.getEncoder().getPosition()
+avantgauche.getEncoder().getPosition()
-arrieredroit.getEncoder().getPosition()
@ -59,27 +55,25 @@ public class BasePilotable extends SubsystemBase {
arrieregauche.getEncoder().setPosition(0);
}
public void resetGyro(){
{gyroscope.reset();
}
pitchoffset = gyroscope.getPitch();
}
public void BrakeOuvre(){
brakedroit.set(Value.kForward);
brakegauche.set(Value.kForward);
brake.set(Value.kForward);
}
public void BrakeFerme(){
brakedroit.set(Value.kReverse);
brakegauche.set(Value.kReverse);
brake.set(Value.kReverse);
}
/** Creates a new BasePilotable. */
public BasePilotable() {
droit.setInverted(true);
teb.add(drive);
teb.addDouble("distancerobot",this::distance);
teb.addDouble("angle gyro", this::getpitch);
}
@Override
public void periodic() {
}
public void drive(double d, double leftX) {
}
}

29
src/main/java/frc/robot/subsystems/Gratte.java
View File

@ -13,12 +13,13 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import frc.robot.Constants;
public class Gratte extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
.withSize(2, 2);
private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);
private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.GratteD);
private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.GratteG);
private DigitalInput limithd = new DigitalInput(Constants.limithd);
private DigitalInput limithg = new DigitalInput(Constants.limithg);
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@ -49,19 +50,25 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
}
public Gratte() {
limitswitchgratte.add ("limitbd", 0.1);
limitswitchgratte.add ("limithg", 0.1);
limitswitchgratte.add ("limithd", 0.1);
limitswitchgratte.add ("limitbg", 0.1);
limitswitchgratte.addBoolean ("limitbd", this::basd);
limitswitchgratte.addBoolean ("limithg", this::hautg);
limitswitchgratte.addBoolean ("limithd", this::hautd);
limitswitchgratte.addBoolean ("limitbg", this::basg);
}
public void Lever(double vitesse){
Gratted.set(vitesse);
Gratteg.set(vitesse);
}
public void baiser(double vitesse){
public void Leverd(double vitesse){
Gratted.set(-vitesse);
}
public void Leverg(double vitesse){
Gratteg.set(-vitesse);
}
public void baiserd(double vitesse){
Gratted.set(vitesse);
}
public void baiserg(double vitesse){
Gratteg.set(vitesse);
}
@Override
public void periodic(){
}

6
src/main/java/frc/robot/subsystems/Limelight.java
View File

@ -5,8 +5,7 @@
package frc.robot.subsystems;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import org.photonvision.PhotonCamera;
import org.photonvision.common.hardware.VisionLEDMode;
@ -17,12 +16,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Limelight extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
PhotonCamera limelight = new PhotonCamera("limelight");
/** Creates a new Limelight. */
public Limelight() {
CameraServer.startAutomaticCapture();
teb .add("limelight", 0.1);
PortForwarder.add(5800, "photonvision.local", 5800);
}

13
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
View File

@ -15,24 +15,19 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class BrasTelescopique extends SubsystemBase {
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout("layout", BuiltInLayouts.kList)
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardTab teb = Shuffleboard.getTab("teb");
/** Creates a new BrasTelescopique. */
public BrasTelescopique() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
teb .add("encodeur",0.1);}
layout .addBoolean("photocell",this::photocell);
layout .addDouble("encodeur",this::distance);
}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell);
private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);

12
src/main/java/frc/robot/subsystems/bras/Pivot.java
View File

@ -14,6 +14,7 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
public class Pivot extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
// moteur
@ -25,8 +26,8 @@ public class Pivot extends SubsystemBase {
pivot.set (vitesse);
}
public Pivot(){
teb .add ("encodeurpivot",0.1);
teb .add ("limitpivot",0.1);
teb.addDouble("encodeurpivot",this::distance);
teb .addBoolean ("limitpivot",this::limitpivot);
}
// encodeur
public double distance(){
@ -37,7 +38,7 @@ public class Pivot extends SubsystemBase {
}
public boolean limitpivot(){
return limitpivot.get();
return !limitpivot.get();
}
@Override
public void periodic() {
@ -46,9 +47,8 @@ public class Pivot extends SubsystemBase {
{
teb.add ("encodeur pivot",0.1);
}
}