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

.gitlab-ci.yml

@@ -1,14 +0,0 @@
-default:
-  image: gradle:jdk11
-  tags:
-    - robot
-
-stages:          # List of stages for jobs, and their order of execution
-  - build
-
-build-job:       # This job runs in the build stage, which runs first.
-  stage: build
-  script:
-    - chmod +x gradlew
-    - ./gradlew build
-

src/main/java/frc/robot/Robot.java

@@ -4,7 +4,10 @@
 
 package frc.robot;
 
+
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -35,7 +38,6 @@ public class Robot extends TimedRobot {
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }

src/main/java/frc/robot/RobotContainer.java

@@ -8,10 +8,19 @@ import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+=======
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+>>>>>>> 856a2295bef699955297a016b8d5ddd1d8bd68d8
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -34,8 +43,8 @@ import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 
 public class RobotContainer {
-XboxController manette1 = new XboxController(0);
+CommandXboxController manette1 = new CommandXboxController(0);
-XboxController manette2 = new XboxController(1);
+CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
 Gratte gratte = new Gratte();
@@ -59,16 +68,15 @@ PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 public RobotContainer() {
     configureBindings();
 
-    basePilotable.setDefaultCommand(brakeOuvre);
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
-    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis());
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+    },basePilotable));
+    
 }
 
-
   private void configureBindings() {
-    XboxController exampleController = new XboxController(2);
+    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-  Trigger aButton = new JoystickButton(exampleController, XboxController.Button.kY.value);
+    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
-
-
 
 
 
@@ -76,7 +84,6 @@ public RobotContainer() {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
     return new SequentialCommandGroup(
       new PivoteBrasMilieux(brasTelescopique, pivot),
       new OuvrePince(pince),

src/main/java/frc/robot/commands/Gyro.java

@@ -25,15 +25,15 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()<10) 
    { 
-    basePilotable.drive(0.4, 0, 0);
+    basePilotable.drive(0.4, 0);
    }
    else if(basePilotable.getpitch()>-10) 
    { 
-    basePilotable.drive(-0.4, 0, 0);
+    basePilotable.drive(-0.4, 0);
    }
    else
    {
-     basePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0); 
    }
 }
 

src/main/java/frc/robot/commands/Reculer.java

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
@@ -26,7 +27,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.2, 0, 0);
+    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, double d){
+  public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

src/main/java/frc/robot/subsystems/Gratte.java

@@ -7,6 +7,7 @@ package frc.robot.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
@@ -42,6 +43,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
   }
 }

src/main/java/frc/robot/subsystems/Limelight.java

@@ -4,6 +4,8 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
 
@@ -40,6 +42,7 @@ public class Limelight extends SubsystemBase {
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    CameraServer.startAutomaticCapture();
+    Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1);
   }
 }