From 2c79346ce98c80f71d749f5cfbe0025b5dedf77a Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 22 Feb 2023 18:29:18 -0500 Subject: [PATCH 1/4] dgbxb v --- src/main/java/frc/robot/Constants.java | 2 ++ .../frc/robot/commands/bras/PivotBrasRentre.java | 4 +++- .../frc/robot/commands/bras/PivotChercheBas.java | 2 ++ .../frc/robot/commands/bras/PivotChercheHaut.java | 2 ++ .../java/frc/robot/commands/bras/PivoteBrasBas.java | 2 ++ .../java/frc/robot/commands/bras/PivoteBrasHaut.java | 2 ++ .../frc/robot/commands/bras/PivoteBrasMilieux.java | 2 ++ .../frc/robot/subsystems/bras/BrasTelescopique.java | 12 +++++++++++- 8 files changed, 26 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index f0fb8a8..1518cc8 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -18,6 +18,8 @@ public class Constants { public static int actuateur = 2; public static int brakedroit = 3; public static int brakegauche = 4; + public static int brakewinchf = 5; + public static int brakewinchb = 5; // DIO public static int limitbd = 0; public static int limitbg = 2; diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java index 192dc88..6efbb90 100644 --- a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java +++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java @@ -29,6 +29,7 @@ public class PivotBrasRentre extends CommandBase { public void execute() { if(brasTelescopique.distance()>1){ brasTelescopique.AvanceRecule(0.5); + brasTelescopique.fermer(); } if (pivot.distance()>1){ pivot.monteDescendre(0.5); @@ -36,9 +37,10 @@ public class PivotBrasRentre extends CommandBase { else if(brasTelescopique.photocell()){ brasTelescopique.Reset(); brasTelescopique.AvanceRecule(0); + brasTelescopique.ouvrir(); } else{ - brasTelescopique.AvanceRecule(.5); + brasTelescopique.AvanceRecule(0.5); } if(pivot.limitpivot()){ pivot.Reset(); diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheBas.java b/src/main/java/frc/robot/commands/bras/PivotChercheBas.java index 33cc965..76367e4 100644 --- a/src/main/java/frc/robot/commands/bras/PivotChercheBas.java +++ b/src/main/java/frc/robot/commands/bras/PivotChercheBas.java @@ -29,12 +29,14 @@ public class PivotChercheBas extends CommandBase { 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); + brasTelescopique.ouvrir(); } if (pivot.distance()<10){ pivot.monteDescendre(0.5); diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java index 4288827..1bdd45a 100644 --- a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java +++ b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java @@ -29,12 +29,14 @@ public class PivotChercheHaut extends CommandBase { 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); + brasTelescopique.ouvrir(); } if (pivot.distance()<10){ pivot.monteDescendre(0.5); diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java index 038ec51..226454e 100644 --- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java +++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java @@ -31,12 +31,14 @@ public class PivoteBrasBas extends CommandBase { 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); + brasTelescopique.ouvrir(); } if (pivot.distance()<10){ pivot.monteDescendre(0.5); diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java index 2ba3c74..1968013 100644 --- a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java +++ b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java @@ -29,12 +29,14 @@ public class PivoteBrasHaut extends CommandBase { 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); + brasTelescopique.ouvrir(); } if (pivot.distance()<10){ pivot.monteDescendre(0.5); diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java index da8939b..c230cfc 100644 --- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java +++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java @@ -29,12 +29,14 @@ public class PivoteBrasMilieux extends CommandBase { 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); + brasTelescopique.ouvrir(); } if (pivot.distance()<10){ pivot.monteDescendre(0.5); diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index e015295..98bc79c 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -9,6 +9,9 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.PneumaticsModuleType; +import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -18,6 +21,7 @@ public class BrasTelescopique extends SubsystemBase { public BrasTelescopique() {} 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); public void AvanceRecule(double vitesse) { Winch.set(vitesse); } @@ -28,8 +32,14 @@ public class BrasTelescopique extends SubsystemBase { Winch.getEncoder().setPosition(0); } public boolean photocell(){ - return photocell.get(); + return photocell.get(); } + public void fermer() { + brakewinch.set(Value.kReverse); + } + public void ouvrir() { + brakewinch.set(Value.kForward); + } @Override public void periodic() { Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1); From e557d1bc6c0c3cd5da9a10e2bb6b28c8d07d02d5 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 22 Feb 2023 18:50:04 -0500 Subject: [PATCH 2/4] commitrewsedrtyygfdf --- .../java/frc/robot/subsystems/BasePilotable.java | 4 +++- src/main/java/frc/robot/subsystems/Gratte.java | 10 ++++++---- src/main/java/frc/robot/subsystems/Limelight.java | 5 ++++- .../frc/robot/subsystems/bras/BrasTelescopique.java | 12 ++++-------- src/main/java/frc/robot/subsystems/bras/Pince.java | 6 ++++-- src/main/java/frc/robot/subsystems/bras/Pivot.java | 12 +++--------- 6 files changed, 24 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 6ed4487..9a53bac 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -76,5 +76,7 @@ public void resetGyro(){ 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); } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 4cefbae..0332f41 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -8,9 +8,11 @@ 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 edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { + ShuffleboardTab teb = Shuffleboard.getTab("teb"); private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte); private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte); private DigitalInput limithd = new DigitalInput(Constants.limithd); @@ -44,9 +46,9 @@ public class Gratte extends SubsystemBase { } @Override public void periodic() { - 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); + teb .add("limithd", 0.1); + teb .add("limithg", 0.1); + teb .add("limitbd", 0.1); + teb .add("limitbg", 0.1); } } diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java index a17900b..5a4f7fc 100644 --- a/src/main/java/frc/robot/subsystems/Limelight.java +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -6,6 +6,8 @@ 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; import org.photonvision.targeting.PhotonTrackedTarget; @@ -15,6 +17,7 @@ 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() { @@ -56,6 +59,6 @@ public class Limelight extends SubsystemBase { @Override public void periodic() { CameraServer.startAutomaticCapture(); - Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1); + teb .add("limelight", 0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 08f983b..7334c0b 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -8,15 +8,14 @@ package frc.robot.subsystems.bras; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -<<<<<<< HEAD import edu.wpi.first.wpilibj.DigitalInput; -======= ->>>>>>> Dash 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; public class BrasTelescopique extends SubsystemBase { + ShuffleboardTab teb = Shuffleboard.getTab("teb"); /** Creates a new BrasTelescopique. */ public BrasTelescopique() {} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); @@ -35,10 +34,7 @@ public class BrasTelescopique extends SubsystemBase { } @Override public void periodic() { -<<<<<<< HEAD - Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1); -======= - Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1); ->>>>>>> Dash + teb .add("``photocell``",0.1); + teb .add("winch",0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index 2aa6540..62022de 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/src/main/java/frc/robot/subsystems/bras/Pince.java @@ -8,9 +8,12 @@ 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; -public class Pince extends SubsystemBase { + +public class Pince extends SubsystemBase{ private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme); /** Creates a new Pince. */ public Pince() { @@ -23,6 +26,5 @@ public class Pince extends SubsystemBase { } @Override public void periodic() { - } } diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index b2494d0..e4ea340 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -4,11 +4,9 @@ package frc.robot.subsystems.bras; -<<<<<<< HEAD import edu.wpi.first.wpilibj.DigitalInput; -======= ->>>>>>> Dash 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; @@ -16,6 +14,7 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { + ShuffleboardTab teb = Shuffleboard.getTab("teb"); // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -37,11 +36,6 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { -<<<<<<< HEAD - Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1); + teb .add("encodeur", 0.1); } -======= - Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1); - } ->>>>>>> Dash } From 306e70101f13346b215304cd647cb54a4528b729 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Wed, 22 Feb 2023 18:53:57 -0500 Subject: [PATCH 3/4] hiuuujujujuuuuu --- .../frc/robot/subsystems/bras/BrasTelescopique.java | 10 ++-------- src/main/java/frc/robot/subsystems/bras/Pivot.java | 10 +--------- 2 files changed, 3 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 47ca244..94ed0f7 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -9,12 +9,9 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.DigitalInput; -<<<<<<< HEAD -======= import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; ->>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -47,12 +44,9 @@ public class BrasTelescopique extends SubsystemBase { } @Override public void periodic() { -<<<<<<< HEAD teb .add("``photocell``",0.1); teb .add("winch",0.1); -======= - Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1); - Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1); ->>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a } + + } diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index 447e9cb..42f5ef3 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -36,14 +36,6 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { -<<<<<<< HEAD teb .add("encodeur", 0.1); } -} -======= - Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1); - Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1); - } - } - ->>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a +} \ No newline at end of file From 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 22 Feb 2023 18:55:19 -0500 Subject: [PATCH 4/4] gfghk --- src/main/java/frc/robot/RobotContainer.java | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 20a459a..dd97cd1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -32,6 +32,12 @@ 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; public class RobotContainer { CommandXboxController manette1 = new CommandXboxController(0); @@ -69,8 +75,16 @@ public RobotContainer() { 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.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); 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)); } public Command getAutonomousCommand() {