163 lines
7.4 KiB
Java
163 lines
7.4 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import java.util.Map;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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//subsystems
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import frc.robot.subsystems.BasePilotable;
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import frc.robot.subsystems.Gratte;
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import frc.robot.subsystems.bras.BrasTelescopique;
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import frc.robot.subsystems.bras.Pince;
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import frc.robot.subsystems.bras.Pivot;
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import frc.robot.subsystems.Limelight;
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import frc.robot.commands.Apriltag;
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import frc.robot.commands.Avancer;
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// command
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import frc.robot.commands.BrakeFerme;
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import frc.robot.commands.BrakeOuvre;
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import frc.robot.commands.Cone;
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import frc.robot.commands.Cube;
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import frc.robot.commands.GratteBaisser;
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import frc.robot.commands.GratteMonte;
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import frc.robot.commands.Gyro;
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import frc.robot.commands.Reculer;
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import frc.robot.commands.Tape;
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import frc.robot.commands.bras.BrasManuel;
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import frc.robot.commands.bras.DescendrePivotBras;
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import frc.robot.commands.bras.FermePince;
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import frc.robot.commands.bras.MonterPivotBras;
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import frc.robot.commands.bras.OuvrePince;
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import frc.robot.commands.bras.PivotManuel;
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import frc.robot.commands.ActiverLimeLight;
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public class RobotContainer {
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CommandXboxController manette1 = new CommandXboxController(0);
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CommandXboxController manette2 = new CommandXboxController(1);
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// dashboard
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SendableChooser<String> chooser = new SendableChooser<>();
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String enhaut = "en haut";
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String aumilieux = "au milieux";
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String enbas = "en bas";
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String nulpart = "nul part";
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ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
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.withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
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GenericEntry autobalance = layoutauto.add("choix balance", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
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GenericEntry autosortir = layoutauto.add("choix sortir", false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
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GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
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GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
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GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
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// subsystems
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BasePilotable basePilotable = new BasePilotable();
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Gratte gratte = new Gratte();
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BrasTelescopique brasTelescopique = new BrasTelescopique();
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Pince pince = new Pince();
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Pivot pivot = new Pivot();
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Limelight limelight = new Limelight();
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// commands
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BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
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BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
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GratteBaisser gratteBaisser = new GratteBaisser(gratte);
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GratteMonte gratteMonte = new GratteMonte(gratte);
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Gyro gyro = new Gyro(basePilotable);
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FermePince fermePince = new FermePince(pince);
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OuvrePince ouvrePince = new OuvrePince(pince);
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Cone cone = new Cone(limelight, basePilotable, () -> -manette1.getLeftY());
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Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0));
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Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0));
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Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0));
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Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
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Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
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Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
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PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getRightY);
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BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getRightX);
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ActiverLimeLight activerLimeLight = new ActiverLimeLight(limelight);
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public RobotContainer() {
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chooser.addOption(enhaut, enhaut);
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chooser.addOption(enbas, enbas);
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chooser.addOption(aumilieux, aumilieux);
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chooser.addOption(nulpart, nulpart);
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layoutauto.add("choix hauteur", chooser);
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configureBindings();
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CameraServer.startAutomaticCapture();
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basePilotable.setDefaultCommand(new RunCommand(() -> {
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basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
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}, basePilotable));
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brasTelescopique.setDefaultCommand(brasManuel);
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pivot.setDefaultCommand(pivotManuel);
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}
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private void configureBindings() {
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// manette 1
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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manette2.a().onTrue(brakeOuvre);
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manette2.b().onTrue(brakeFerme);
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manette1.leftBumper().whileTrue(aprilTag);
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manette1.rightBumper().whileTrue(tape);
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manette1.povUp().whileTrue(creerCommandBras(51, -37));
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manette1.povDown().whileTrue(creerCommandBras(12, -9));
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manette1.povRight().whileTrue(creerCommandBras(45, -13));
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manette1.povLeft().whileTrue(creerCommandBras(0, 0));
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manette1.y().whileTrue(activerLimeLight);
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//manette 2
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manette2.povDown().whileTrue(creerCommandBras(5, -12));
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manette2.povUp().whileTrue(creerCommandBras(44, 0));
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manette2.rightBumper().whileTrue(cube);
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manette2.leftBumper().whileTrue(cone);
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manette2.y().whileTrue(gyro);
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manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
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manette1.b().whileTrue(gratteMonte);
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manette1.x().whileTrue(gratteBaisser);
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}
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private Command creerCommandBras(double distancePivot, double distanceBras) {
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return Commands.either(
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new MonterPivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
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new DescendrePivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
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() -> pivot.distance() < distancePivot);
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}
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public Command getAutonomousCommand() {
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return Commands.deadline(
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Commands.waitSeconds(14),
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new SequentialCommandGroup(
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new BrakeFerme(basePilotable),
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Commands.select(Map.ofEntries(
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Map.entry(enhaut, creerCommandBras(51, -40)),
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Map.entry(aumilieux, creerCommandBras(45, -13)),
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Map.entry(enbas, creerCommandBras(12, -9)),
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Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
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new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
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Commands.waitSeconds(1),
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new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
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creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
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Commands.waitSeconds(1),
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Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)),
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new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
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Commands.either(new Gyro(basePilotable), Commands.none(), () -> autobalance.getBoolean(true))))
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.andThen(new BrakeOuvre(basePilotable));
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}
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}
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