84 lines
2.9 KiB
Java
84 lines
2.9 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.subsystems;
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import com.kauailabs.navx.frc.AHRS;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.PneumaticsModuleType;
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import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class BasePilotable extends SubsystemBase {
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final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
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final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
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final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
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final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
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final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
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final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
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final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
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//piston
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private DoubleSolenoid brake = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakeouvre, Constants.brakeferme);
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//gyro
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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double pitchoffset = 0;
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private AHRS gyroscope = new AHRS();
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public double getpitch() {
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return -gyroscope.getPitch() + pitchoffset;
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}
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public void drive(double xSpeed, double zRotation){
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drive.arcadeDrive(xSpeed, zRotation);
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}
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public void drive(double xSpeed, double zRotation, boolean square){
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drive.arcadeDrive(xSpeed, zRotation, square);
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}
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public double distance(){
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return (-avantdroit.getEncoder().getPosition()
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+avantgauche.getEncoder().getPosition()
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-arrieredroit.getEncoder().getPosition()
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+arrieregauche.getEncoder().getPosition()) / 4;
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}
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public void Reset() {
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avantdroit.getEncoder().setPosition(0);
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avantgauche.getEncoder().setPosition(0);
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arrieredroit.getEncoder().setPosition(0);
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arrieregauche.getEncoder().setPosition(0);
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}
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public void resetGyro(){
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pitchoffset = gyroscope.getPitch();
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}
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public void BrakeOuvre(){
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brake.set(Value.kForward);
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}
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public void BrakeFerme(){
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brake.set(Value.kReverse);
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}
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/** Creates a new BasePilotable. */
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public BasePilotable() {
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droit.setInverted(true);
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teb.add(drive);
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teb.addDouble("distancerobot",this::distance);
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teb.addDouble("angle gyro", this::getpitch);
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}
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@Override
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public void periodic() {
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}
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}
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