From 46c3dcbad5a99b40cca2f28303590fe09d859f91 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 8 Mar 2023 19:50:19 -0500 Subject: [PATCH] dxgfhcn --- src/main/java/frc/robot/RobotContainer.java | 57 ++----------------- .../frc/robot/subsystems/BasePilotable.java | 2 + .../java/frc/robot/subsystems/Gratte.java | 4 -- .../subsystems/bras/BrasTelescopique.java | 6 +- .../java/frc/robot/subsystems/bras/Pivot.java | 9 +-- 5 files changed, 11 insertions(+), 67 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 43c48c1..de3edd1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -12,6 +12,7 @@ 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.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -22,7 +23,6 @@ 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; // command import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeOuvre; @@ -30,25 +30,17 @@ import frc.robot.commands.Cone; import frc.robot.commands.GratteBaisser; import frc.robot.commands.GratteMonte; import frc.robot.commands.Gyro; +import frc.robot.commands.Reculer; import frc.robot.commands.bras.FermePince; import frc.robot.commands.bras.OuvrePince; import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; -//subsystems -import frc.robot.commands.bras.PivotChercheBas; -import frc.robot.commands.bras.PivotChercheHaut; -import frc.robot.commands.Cube; -import frc.robot.commands.Tape; public class RobotContainer { -<<<<<<< HEAD -======= -//CameraServer.startAutomaticCapture(); ->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems @@ -57,7 +49,7 @@ Gratte gratte = new Gratte(); BrasTelescopique brasTelescopique = new BrasTelescopique(); Pince pince = new Pince(); Pivot pivot = new Pivot(); -Limelight limelight = new Limelight();/** */ +Limelight limelight = new Limelight(); //commands BrakeFerme brakeFerme = new BrakeFerme(basePilotable); BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable); @@ -81,12 +73,6 @@ String nulpart = "nul part"; ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto"); GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry(); GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry(); -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); - public RobotContainer() { chooser.setDefaultOption(enhaut, enhaut); chooser.addOption(enbas, enbas); @@ -96,25 +82,16 @@ public RobotContainer() { configureBindings(); - CameraServer.startAutomaticCapture(); + basePilotable.setDefaultCommand(new RunCommand(() -> { - basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0); + basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX()); },basePilotable)); } - + private void configureBindings() { - basePilotable.setDefaultCommand(new RunCommand(() -> { - basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX(), 0); - },basePilotable)); - // manette 1 - manette1.povDown().onTrue(pivoteBrasHaut); - manette1.povUp().onTrue(pivoteBrasBas); - manette1.povLeft().onTrue(pivoteBrasMilieux); - manette1.povRight().onTrue(pivotBrasRentre); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); -<<<<<<< HEAD manette1.y().whileTrue(gyro); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); @@ -145,27 +122,5 @@ public RobotContainer() { ); -======= - manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); - manette1.leftBumper().toggleOnTrue(cube); - manette1.rightBumper().toggleOnTrue(cone); - // manette 2 - manette2.y().whileTrue(gyro); - manette2.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); - manette2.povRight().onTrue(pivotChercheBas); - manette2.povLeft().onTrue(pivotChercheHaut); - manette2.rightBumper().toggleOnTrue(aprilTag); - manette2.leftBumper().toggleOnTrue(tape); - } - - public Command getAutonomousCommand() { - return null; - //return new SequentialCommandGroup( - //new PivoteBrasMilieux(brasTelescopique, pivot), - //new OuvrePince(pince), - //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), - //new Gyro(basePilotable) - //); ->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e } } diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index cc90ca1..46ce7c2 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -80,4 +80,6 @@ public void BrakeFerme(){ public void periodic() { } +public void drive(double d, double leftX) { +} } diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index acf7ede..a90d859 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -13,11 +13,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 1ffdf3d..0e627cb 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -12,14 +12,14 @@ 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.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 { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") .getLayout("layout", BuiltInLayouts.kList) .withSize(2, 2); @@ -27,9 +27,7 @@ public class BrasTelescopique extends SubsystemBase { ShuffleboardLayout bras = Shuffleboard.getTab("teb") .getLayout("bras", BuiltInLayouts.kList) .withSize(2, 2); -======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e /** Creates a new BrasTelescopique. */ public BrasTelescopique() { teb .add("photocell",0.1); diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index 0db4639..2cd74d2 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,12 +14,8 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { -<<<<<<< HEAD - ShuffleboardTab teb = Shuffleboard.getTab("teb"); -======= ShuffleboardTab teb = Shuffleboard.getTab("teb"); ->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -46,7 +42,6 @@ public class Pivot extends SubsystemBase { @Override public void periodic() { } -<<<<<<< HEAD @@ -55,7 +50,5 @@ public class Pivot extends SubsystemBase { teb.add ("encodeur pivot",0.1); } } -======= -} ->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e +