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

src/main/java/frc/robot/Constants.java

@@ -5,13 +5,16 @@ public class Constants {
     public static int avantgauche = 2;
     public static int arrieredroit = 3;
     public static int arrieregauche = 5;
-    public static int BrasTelescopique = 4;
+    public static int BrasTelescopique = 2;
     public static int pivot = 0;
     
     //moteur
     public static int leverGratte = 0;
     public static int baiserGratte = 1;
+<<<<<<< HEAD
     public static int baisserGratte = 2;
+=======
+>>>>>>> 23806ebfa2db43d63673f9b4cfc37aa3b9b23491
 
     // pneumatique
     public static int pistonpinceouvre = 0;

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

@@ -8,8 +8,13 @@ import org.photonvision.estimation.CameraTargetRelation;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import java.util.Map;
+import edu.wpi.first.networktables.GenericEntry;
+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;
 
@@ -20,7 +25,6 @@ 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;
@@ -28,21 +32,17 @@ 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 {
-//CameraServer.startAutomaticCapture();
+  
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
@@ -51,7 +51,7 @@ 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);
@@ -71,16 +71,31 @@ Cube cube = new Cube(limelight, basePilotable, null);
 Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
 Tape tape = new Tape(limelight, basePilotable, null);
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+Reculer reculer = new Reculer(basePilotable);
+
+SendableChooser<String> chooser = new SendableChooser<>();
+String enhaut = "en bas";
+String aumilieux = "au milieux";
+String enbas = "en bas";
+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();
 public RobotContainer() {
+    chooser.setDefaultOption(enhaut, enhaut);
+    chooser.addOption(enbas, enbas);
+    chooser.addOption(aumilieux, aumilieux);
+    chooser.addOption(nulpart, nulpart);
+    layoutauto.add("choix hauteur",chooser);
+
+
     configureBindings();
     CameraServer.startAutomaticCapture();
     teb.add (CameraServer.startAutomaticCapture(null, 0));
-      basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.setDefaultCommand(new RunCommand() -> {
       basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
-    },basePilotable));
+      }
-    
+    }
-}
-  
   private void configureBindings() {
     // manette 1
     manette1.povDown().onTrue(pivoteBrasHaut);
@@ -89,25 +104,26 @@ public RobotContainer() {
     manette1.povRight().onTrue(pivotBrasRentre);
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
-    manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
+    manette1.y().whileTrue(gyro);
-    manette1.leftBumper().toggleOnTrue(cube);
+    manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    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;
+    chooser.getSelected();
-    //return new SequentialCommandGroup(
+    autobalance.getBoolean(true);
-      //new PivoteBrasMilieux(brasTelescopique, pivot),
+    return new SequentialCommandGroup(
-      //new OuvrePince(pince),
+      Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)),
-      //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
+      Commands.either(reculer, Commands.none(),()-> autosortir.getBoolean(true)),
-      //new Gyro(basePilotable)
+      Commands.select(Map.ofEntries(
-    //);
+        Map.entry(enhaut,pivoteBrasHaut),
+        Map.entry(aumilieux,null),
+        Map.entry(enbas,null),
+        Map.entry(nulpart,null)
+      ), chooser::getSelected)
+    );
+
+
   }
 }

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

@@ -28,11 +28,11 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()>4) 
+  if(basePilotable.getpitch()>10) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
    }
-   else if(basePilotable.getpitch()<-4) 
+   else if(basePilotable.getpitch()<-10) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);

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) {
+}
 }

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

@@ -13,6 +13,7 @@ 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)

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -12,12 +12,21 @@ 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 {
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout("layout", 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() {

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -14,6 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   
   // moteur
@@ -42,5 +43,13 @@ public class Pivot extends SubsystemBase {
   @Override
   public void periodic() {
   }
-}  
+
+  
+ 
+
+  {
+  teb.add ("encodeur pivot",0.1);
+ }
+}
+