Merge branch 'main' of https://demerso.net/pls5618/2023/robot
This commit is contained in:
commit
f6c56fae35
@ -1,12 +1,12 @@
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package frc.robot;
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package frc.robot;
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public class Constants {
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public class Constants {
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public static int avantdroit = 0;
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public static int avantdroit = 1;
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public static int avantgauche = 1;
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public static int avantgauche = 4;
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public static int arrieredroit = 2;
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public static int arrieredroit = 3;
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public static int arrieregauche = 3;
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public static int arrieregauche = 5;
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public static int BrasTelescopique = 4;
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public static int BrasTelescopique = 4;
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public static int pivot = 5;
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public static int pivot = 0;
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//moteur
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//moteur
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public static int leverGratte = 0;
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public static int leverGratte = 0;
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@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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@ -23,6 +22,7 @@ import frc.robot.subsystems.bras.BrasTelescopique;
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import frc.robot.subsystems.bras.Pince;
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import frc.robot.subsystems.bras.Pince;
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import frc.robot.subsystems.bras.Pivot;
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import frc.robot.subsystems.bras.Pivot;
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import frc.robot.subsystems.Limelight;
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import frc.robot.subsystems.Limelight;
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import frc.robot.commands.Apriltag;
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// command
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// command
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import frc.robot.commands.BrakeFerme;
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import frc.robot.commands.BrakeFerme;
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import frc.robot.commands.BrakeOuvre;
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import frc.robot.commands.BrakeOuvre;
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@ -30,17 +30,25 @@ import frc.robot.commands.Cone;
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import frc.robot.commands.GratteBaisser;
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import frc.robot.commands.GratteBaisser;
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import frc.robot.commands.GratteMonte;
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import frc.robot.commands.GratteMonte;
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import frc.robot.commands.Gyro;
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import frc.robot.commands.Gyro;
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import frc.robot.commands.Reculer;
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import frc.robot.commands.bras.FermePince;
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import frc.robot.commands.bras.FermePince;
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import frc.robot.commands.bras.OuvrePince;
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import frc.robot.commands.bras.OuvrePince;
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import frc.robot.commands.bras.PivotBrasRentre;
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import frc.robot.commands.bras.PivotBrasRentre;
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import frc.robot.commands.bras.PivoteBrasBas;
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import frc.robot.commands.bras.PivoteBrasBas;
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import frc.robot.commands.bras.PivoteBrasHaut;
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import frc.robot.commands.bras.PivoteBrasHaut;
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import frc.robot.commands.bras.PivoteBrasMilieux;
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import frc.robot.commands.bras.PivoteBrasMilieux;
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//subsystems
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import frc.robot.commands.bras.PivotChercheBas;
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import frc.robot.commands.bras.PivotChercheHaut;
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import frc.robot.commands.Cube;
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import frc.robot.commands.Tape;
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public class RobotContainer {
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public class RobotContainer {
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<<<<<<< HEAD
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=======
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//CameraServer.startAutomaticCapture();
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>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
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CommandXboxController manette1 = new CommandXboxController(0);
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CommandXboxController manette1 = new CommandXboxController(0);
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CommandXboxController manette2 = new CommandXboxController(1);
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CommandXboxController manette2 = new CommandXboxController(1);
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// subsystems
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// subsystems
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@ -49,7 +57,7 @@ Gratte gratte = new Gratte();
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BrasTelescopique brasTelescopique = new BrasTelescopique();
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BrasTelescopique brasTelescopique = new BrasTelescopique();
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Pince pince = new Pince();
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Pince pince = new Pince();
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Pivot pivot = new Pivot();
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Pivot pivot = new Pivot();
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Limelight limelight = new Limelight();
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Limelight limelight = new Limelight();/** */
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//commands
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//commands
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BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
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BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
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BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
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BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
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@ -73,6 +81,12 @@ String nulpart = "nul part";
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ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto");
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ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto");
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GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry();
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GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry();
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GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry();
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GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry();
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PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
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PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
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Cube cube = new Cube(limelight, basePilotable, null);
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Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
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Tape tape = new Tape(limelight, basePilotable, null);
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public RobotContainer() {
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public RobotContainer() {
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chooser.setDefaultOption(enhaut, enhaut);
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chooser.setDefaultOption(enhaut, enhaut);
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chooser.addOption(enbas, enbas);
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chooser.addOption(enbas, enbas);
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@ -82,16 +96,25 @@ public RobotContainer() {
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configureBindings();
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configureBindings();
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CameraServer.startAutomaticCapture();
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basePilotable.setDefaultCommand(new RunCommand(() -> {
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basePilotable.setDefaultCommand(new RunCommand(() -> {
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basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
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basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
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},basePilotable));
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},basePilotable));
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}
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}
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private void configureBindings() {
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private void configureBindings() {
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basePilotable.setDefaultCommand(new RunCommand(() -> {
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basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX(), 0);
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},basePilotable));
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// manette 1
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manette1.povDown().onTrue(pivoteBrasHaut);
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manette1.povUp().onTrue(pivoteBrasBas);
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manette1.povLeft().onTrue(pivoteBrasMilieux);
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manette1.povRight().onTrue(pivotBrasRentre);
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
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manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
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|
<<<<<<< HEAD
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manette1.y().whileTrue(gyro);
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manette1.y().whileTrue(gyro);
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manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
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manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
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/*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
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/*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
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@ -122,5 +145,27 @@ public RobotContainer() {
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);
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);
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=======
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manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
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manette1.leftBumper().toggleOnTrue(cube);
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manette1.rightBumper().toggleOnTrue(cone);
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// manette 2
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manette2.y().whileTrue(gyro);
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manette2.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
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manette2.povRight().onTrue(pivotChercheBas);
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manette2.povLeft().onTrue(pivotChercheHaut);
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manette2.rightBumper().toggleOnTrue(aprilTag);
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manette2.leftBumper().toggleOnTrue(tape);
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}
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public Command getAutonomousCommand() {
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return null;
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//return new SequentialCommandGroup(
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//new PivoteBrasMilieux(brasTelescopique, pivot),
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//new OuvrePince(pince),
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//new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
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//new Gyro(basePilotable)
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//);
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>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
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}
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}
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}
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}
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@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
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// Called every time the scheduler runs while the command is scheduled.
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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@Override
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public void execute() {
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public void execute() {
|
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basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
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basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
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}
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}
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// Called once the command ends or is interrupted.
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// Called once the command ends or is interrupted.
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@ -32,7 +32,7 @@ public class Cone extends CommandBase {
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// Called every time the scheduler runs while the command is scheduled.
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// Called every time the scheduler runs while the command is scheduled.
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@Override
|
@Override
|
||||||
public void execute() {
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public void execute() {
|
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basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
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basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
|
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}
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}
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|
||||||
// Called once the command ends or is interrupted.
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// Called once the command ends or is interrupted.
|
||||||
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@ -32,7 +32,7 @@ public class Cube 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() {
|
||||||
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
|
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
|
||||||
}
|
}
|
||||||
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|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
|
@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase {
|
|||||||
|
|
||||||
// Called when the command is initially scheduled.
|
// Called when the command is initially scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void initialize() {}
|
public void initialize() {
|
||||||
|
gratte.setenHaut(false);
|
||||||
|
}
|
||||||
|
|
||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
@ -41,9 +43,7 @@ public class GratteBaisser extends CommandBase {
|
|||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@Override
|
@Override
|
||||||
public void end(boolean interrupted) {
|
public void end(boolean interrupted) {}
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
@Override
|
@Override
|
||||||
|
@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase {
|
|||||||
|
|
||||||
// Called when the command is initially scheduled.
|
// Called when the command is initially scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void initialize() {}
|
public void initialize() {
|
||||||
|
gratte.setenHaut(true);
|
||||||
|
}
|
||||||
|
|
||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
|
@ -4,13 +4,18 @@
|
|||||||
|
|
||||||
package frc.robot.commands;
|
package frc.robot.commands;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||||
|
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
||||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
import frc.robot.subsystems.BasePilotable;
|
import frc.robot.subsystems.BasePilotable;
|
||||||
|
|
||||||
public class Gyro extends CommandBase {
|
public class Gyro extends CommandBase {
|
||||||
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
private BasePilotable basePilotable;
|
private BasePilotable basePilotable;
|
||||||
/** Creates a new Gyro. */
|
/** Creates a new Gyro. */
|
||||||
public Gyro(BasePilotable basePilotable) {
|
public Gyro(BasePilotable basePilotable) {
|
||||||
|
teb.add("angleGyro", 0.1);
|
||||||
|
teb.add("vitesseGyro", 0.1);
|
||||||
this.basePilotable = basePilotable;
|
this.basePilotable = basePilotable;
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
addRequirements(basePilotable);
|
addRequirements(basePilotable);
|
||||||
@ -25,15 +30,20 @@ public class Gyro extends CommandBase {
|
|||||||
public void execute() {
|
public void execute() {
|
||||||
if(basePilotable.getpitch()>10)
|
if(basePilotable.getpitch()>10)
|
||||||
{
|
{
|
||||||
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
|
basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
|
||||||
}
|
}
|
||||||
else if(basePilotable.getpitch()<-10)
|
else if(basePilotable.getpitch()<-10)
|
||||||
{
|
{
|
||||||
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
|
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);
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
basePilotable.drive(0, 0);
|
basePilotable.drive(0, 0, 0);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -27,7 +27,7 @@ public class Reculer 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() {
|
||||||
basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0);
|
basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
|
@ -32,7 +32,7 @@ public class Tape 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() {
|
||||||
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
|
basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
|
@ -7,8 +7,8 @@ package frc.robot.subsystems;
|
|||||||
import com.kauailabs.navx.frc.AHRS;
|
import com.kauailabs.navx.frc.AHRS;
|
||||||
import com.revrobotics.CANSparkMax;
|
import com.revrobotics.CANSparkMax;
|
||||||
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj.DoubleSolenoid;
|
import edu.wpi.first.wpilibj.DoubleSolenoid;
|
||||||
import edu.wpi.first.wpilibj.DriverStation;
|
|
||||||
import edu.wpi.first.wpilibj.PneumaticsModuleType;
|
import edu.wpi.first.wpilibj.PneumaticsModuleType;
|
||||||
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
|
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
|
||||||
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
||||||
@ -21,11 +21,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
|||||||
import frc.robot.Constants;
|
import frc.robot.Constants;
|
||||||
|
|
||||||
public class BasePilotable extends SubsystemBase {
|
public class BasePilotable extends SubsystemBase {
|
||||||
final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
|
final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
|
||||||
final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
|
final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
|
||||||
final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
|
final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
|
||||||
final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
|
final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
|
||||||
final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit);
|
final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
|
||||||
final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
|
final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
|
||||||
final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
|
final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
|
||||||
|
|
||||||
@ -35,28 +35,34 @@ public class BasePilotable extends SubsystemBase {
|
|||||||
//gyro
|
//gyro
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
|
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
|
||||||
.getLayout ("distance", BuiltInLayouts.kList)
|
.getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
|
||||||
.withSize(2, 2);
|
.withSize(2, 2);
|
||||||
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
|
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
|
||||||
public double getpitch() {
|
public double getpitch() {
|
||||||
return gyroscope.getPitch();
|
return gyroscope.getPitch();
|
||||||
}
|
}
|
||||||
|
|
||||||
public void drive(double xSpeed, double zRotation){
|
public void drive(double xSpeed, double zRotation, int i){
|
||||||
drive.arcadeDrive(xSpeed, zRotation);
|
drive.arcadeDrive(xSpeed, zRotation);
|
||||||
}
|
}
|
||||||
public double distance(){
|
public double distance(){
|
||||||
return (-avantd.getEncoder().getPosition()
|
teb .add ("distance",0.1);
|
||||||
|
return (-avantdroit.getEncoder().getPosition()
|
||||||
+avantgauche.getEncoder().getPosition()
|
+avantgauche.getEncoder().getPosition()
|
||||||
-arrieredroit.getEncoder().getPosition()
|
-arrieredroit.getEncoder().getPosition()
|
||||||
+arrieregauche.getEncoder().getPosition()) / 4;
|
+arrieregauche.getEncoder().getPosition()) / 4;
|
||||||
}
|
}
|
||||||
public void Reset() {
|
public void Reset() {
|
||||||
avantd.getEncoder().setPosition(0);
|
avantdroit.getEncoder().setPosition(0);
|
||||||
avantgauche.getEncoder().setPosition(0);
|
avantgauche.getEncoder().setPosition(0);
|
||||||
arrieredroit.getEncoder().setPosition(0);
|
arrieredroit.getEncoder().setPosition(0);
|
||||||
arrieregauche.getEncoder().setPosition(0);
|
arrieregauche.getEncoder().setPosition(0);
|
||||||
}
|
}
|
||||||
|
public void resetGyro(){
|
||||||
|
{gyroscope.reset();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
public void BrakeOuvre(){
|
public void BrakeOuvre(){
|
||||||
brakedroit.set(Value.kForward);
|
brakedroit.set(Value.kForward);
|
||||||
brakegauche.set(Value.kForward);
|
brakegauche.set(Value.kForward);
|
||||||
@ -65,13 +71,9 @@ public void BrakeFerme(){
|
|||||||
brakedroit.set(Value.kReverse);
|
brakedroit.set(Value.kReverse);
|
||||||
brakegauche.set(Value.kReverse);
|
brakegauche.set(Value.kReverse);
|
||||||
}
|
}
|
||||||
public void resetGyro(){
|
|
||||||
{gyroscope.reset();}
|
|
||||||
}
|
|
||||||
/** Creates a new BasePilotable. */
|
/** Creates a new BasePilotable. */
|
||||||
public BasePilotable() {
|
public BasePilotable() {
|
||||||
droit.setInverted(true);
|
droit.setInverted(true);
|
||||||
layout .addDouble("distance", this::distance);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
|
@ -3,7 +3,6 @@
|
|||||||
// the WPILib BSD license file in the root directory of this project.
|
// the WPILib BSD license file in the root directory of this project.
|
||||||
|
|
||||||
package frc.robot.subsystems;
|
package frc.robot.subsystems;
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
|
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
|
||||||
import edu.wpi.first.wpilibj.DigitalInput;
|
import edu.wpi.first.wpilibj.DigitalInput;
|
||||||
@ -14,7 +13,11 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
|||||||
import frc.robot.Constants;
|
import frc.robot.Constants;
|
||||||
|
|
||||||
public class Gratte extends SubsystemBase {
|
public class Gratte extends SubsystemBase {
|
||||||
|
<<<<<<< HEAD
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
|
=======
|
||||||
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
|
>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
|
||||||
ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
|
ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
|
||||||
.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
|
.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
|
||||||
.withSize(2, 2);
|
.withSize(2, 2);
|
||||||
@ -24,7 +27,15 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
|
|||||||
private DigitalInput limithg = new DigitalInput(Constants.limithg);
|
private DigitalInput limithg = new DigitalInput(Constants.limithg);
|
||||||
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
|
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
|
||||||
private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
|
private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
|
||||||
public boolean baiser;
|
public boolean baiser;
|
||||||
|
boolean enHaut = true;
|
||||||
|
public void setenHaut(boolean enHaut){
|
||||||
|
this.enHaut = enHaut;
|
||||||
|
}
|
||||||
|
public boolean getenHaut(){
|
||||||
|
return enHaut;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
public boolean hautd(){
|
public boolean hautd(){
|
||||||
return limithd.get();
|
return limithd.get();
|
||||||
@ -34,14 +45,19 @@ public boolean baiser;
|
|||||||
return limithg.get();
|
return limithg.get();
|
||||||
}
|
}
|
||||||
|
|
||||||
public boolean basd(int i, String string){
|
public boolean basd(){
|
||||||
return limitbd.get();
|
return limitbd.get();
|
||||||
}
|
}
|
||||||
public boolean basg(){
|
public boolean basg(){
|
||||||
return limitbg.get();
|
return limitbg.get();
|
||||||
}
|
}
|
||||||
/** Creates a new Gratte. */
|
|
||||||
public Gratte() {}
|
public Gratte() {
|
||||||
|
limitswitchgratte.add ("limitbd", 0.1);
|
||||||
|
limitswitchgratte.add ("limithg", 0.1);
|
||||||
|
limitswitchgratte.add ("limithd", 0.1);
|
||||||
|
limitswitchgratte.add ("limitbg", 0.1);
|
||||||
|
}
|
||||||
public void Lever(double vitesse){
|
public void Lever(double vitesse){
|
||||||
Gratted.set(vitesse);
|
Gratted.set(vitesse);
|
||||||
Gratteg.set(vitesse);
|
Gratteg.set(vitesse);
|
||||||
@ -51,18 +67,6 @@ public boolean baiser;
|
|||||||
Gratteg.set(-vitesse);
|
Gratteg.set(-vitesse);
|
||||||
}
|
}
|
||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic(){
|
||||||
teb .add("limithd", 0.1);
|
}
|
||||||
teb .add("limithg", 0.1);
|
|
||||||
teb .add("limitbd", 0.1);
|
|
||||||
teb .add("limitbg", 0.1);
|
|
||||||
limitswitchgratte.add ("limitbd", 0.1);
|
|
||||||
limitswitchgratte.add ("limithg", 0.1);
|
|
||||||
limitswitchgratte.add ("limithd", 0.1);
|
|
||||||
limitswitchgratte.add ("limitbg", 0.1);
|
|
||||||
}
|
|
||||||
|
|
||||||
public boolean basd() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
}
|
@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase {
|
|||||||
PhotonCamera limelight = new PhotonCamera("limelight");
|
PhotonCamera limelight = new PhotonCamera("limelight");
|
||||||
/** Creates a new Limelight. */
|
/** Creates a new Limelight. */
|
||||||
public Limelight() {
|
public Limelight() {
|
||||||
|
CameraServer.startAutomaticCapture();
|
||||||
|
teb .add("limelight", 0.1);
|
||||||
PortForwarder.add(5800, "photonvision.local", 5800);
|
PortForwarder.add(5800, "photonvision.local", 5800);
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
CameraServer.startAutomaticCapture();
|
|
||||||
teb .add("limelight", 0.1);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -12,14 +12,13 @@ import edu.wpi.first.wpilibj.DigitalInput;
|
|||||||
import edu.wpi.first.wpilibj.DoubleSolenoid;
|
import edu.wpi.first.wpilibj.DoubleSolenoid;
|
||||||
import edu.wpi.first.wpilibj.PneumaticsModuleType;
|
import edu.wpi.first.wpilibj.PneumaticsModuleType;
|
||||||
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
|
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.Shuffleboard;
|
||||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
|
|
||||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
import frc.robot.Constants;
|
import frc.robot.Constants;
|
||||||
|
|
||||||
public class BrasTelescopique extends SubsystemBase {
|
public class BrasTelescopique extends SubsystemBase {
|
||||||
|
<<<<<<< HEAD
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
|
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
|
||||||
.getLayout("layout", BuiltInLayouts.kList)
|
.getLayout("layout", BuiltInLayouts.kList)
|
||||||
@ -28,8 +27,14 @@ public class BrasTelescopique extends SubsystemBase {
|
|||||||
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
|
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
|
||||||
.getLayout("bras", BuiltInLayouts.kList)
|
.getLayout("bras", BuiltInLayouts.kList)
|
||||||
.withSize(2, 2);
|
.withSize(2, 2);
|
||||||
|
=======
|
||||||
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
|
>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
|
||||||
/** Creates a new BrasTelescopique. */
|
/** Creates a new BrasTelescopique. */
|
||||||
public BrasTelescopique() {}
|
public BrasTelescopique() {
|
||||||
|
teb .add("photocell",0.1);
|
||||||
|
teb .add("winch",0.1);
|
||||||
|
teb .add("encodeur",0.1);}
|
||||||
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
|
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
|
||||||
private DigitalInput photocell = new DigitalInput(Constants.photocell);
|
private DigitalInput photocell = new DigitalInput(Constants.photocell);
|
||||||
private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
|
private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
|
||||||
@ -53,8 +58,6 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
|
|||||||
}
|
}
|
||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
teb .add("photocell",0.1);
|
|
||||||
teb .add("winch",0.1);
|
|
||||||
bras.add ("encodeur",0.1);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
@ -8,7 +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 frc.robot.Constants;
|
import frc.robot.Constants;
|
||||||
|
|
||||||
|
|
||||||
|
@ -14,7 +14,12 @@ import com.revrobotics.CANSparkMax;
|
|||||||
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||||
|
|
||||||
public class Pivot extends SubsystemBase {
|
public class Pivot extends SubsystemBase {
|
||||||
|
<<<<<<< HEAD
|
||||||
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
|
=======
|
||||||
|
ShuffleboardTab teb = Shuffleboard.getTab("teb");
|
||||||
|
|
||||||
|
>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
|
||||||
// moteur
|
// moteur
|
||||||
private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
|
private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
|
||||||
private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
|
private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
|
||||||
@ -23,6 +28,10 @@ public class Pivot extends SubsystemBase {
|
|||||||
public void monteDescendre(double vitesse) {
|
public void monteDescendre(double vitesse) {
|
||||||
pivot.set (vitesse);
|
pivot.set (vitesse);
|
||||||
}
|
}
|
||||||
|
public Pivot(){
|
||||||
|
teb .add ("encodeurpivot",0.1);
|
||||||
|
teb .add ("limitpivot",0.1);
|
||||||
|
}
|
||||||
// encodeur
|
// encodeur
|
||||||
public double distance(){
|
public double distance(){
|
||||||
return (pivot.getEncoder().getPosition());
|
return (pivot.getEncoder().getPosition());
|
||||||
@ -36,9 +45,8 @@ public class Pivot extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
teb .add("encodeur", 0.1);
|
|
||||||
teb .add ("encodeur pivot",0.1);
|
|
||||||
}
|
}
|
||||||
|
<<<<<<< HEAD
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@ -47,3 +55,7 @@ public class Pivot extends SubsystemBase {
|
|||||||
teb.add ("encodeur pivot",0.1);
|
teb.add ("encodeur pivot",0.1);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
=======
|
||||||
|
}
|
||||||
|
|
||||||
|
>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
|
||||||
|
Loading…
x
Reference in New Issue
Block a user