PLS5618/robot-2023
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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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This commit is contained in:
Olivier Dubois 2023-03-08 20:10:19 -05:00
commit feb8cc033e
7 changed files with 74 additions and 34 deletions
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5
src/main/java/frc/robot/Constants.java
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@ -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;

76
src/main/java/frc/robot/RobotContainer.java
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@ -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.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);
manette1.y().whileTrue(gyro);
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
}
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)
//);
chooser.getSelected();
autobalance.getBoolean(true);
return new SequentialCommandGroup(
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)),
Commands.either(reculer, Commands.none(),()-> autosortir.getBoolean(true)),
Commands.select(Map.ofEntries(
Map.entry(enhaut,pivoteBrasHaut),
Map.entry(aumilieux,null),
Map.entry(enbas,null),
Map.entry(nulpart,null)
), chooser::getSelected)
);
}
}

4
src/main/java/frc/robot/commands/Gyro.java
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@ -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);

2
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -80,4 +80,6 @@ public void BrakeFerme(){
public void periodic() {
}
public void drive(double d, double leftX) {
}
}

1
src/main/java/frc/robot/subsystems/Gratte.java
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@ -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)

9
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -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() {

9
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -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);
}
}