diff --git a/simgui.json b/simgui.json index 24f3f80..e3111f6 100644 --- a/simgui.json +++ b/simgui.json @@ -1,99 +1,13 @@ { - "HALProvider": { - "Other Devices": { - "SPARK MAX [10]": { - "header": { - "open": true - } - }, - "SPARK MAX [13]": { - "header": { - "open": true - } - }, - "SPARK MAX [14]": { - "header": { - "open": true - } - }, - "SPARK MAX [15]": { - "header": { - "open": true - } - } - }, -<<<<<<< HEAD - "Solenoids": { - "window": { - "visible": true - } - }, -======= ->>>>>>> 88c4a9552f1a0b19d806a7672f738c1a9b60846b - "Timing": { - "window": { - "visible": false - } - } - }, "NTProvider": { "types": { "/FMSInfo": "FMSInfo", "/Shuffleboard/dashboard/autochooser": "String Chooser", "/SmartDashboard/Field": "Field2d", "/SmartDashboard/Pigeon IMU [0]": "Gyro" - }, - "windows": { - "/Shuffleboard/dashboard/autochooser": { - "window": { - "visible": true - } - }, - "/SmartDashboard/Field": { - "bottom": 1476, - "height": 8.210550308227539, - "left": 150, - "right": 2961, - "top": 79, - "width": 16.541748046875, - "window": { - "visible": true - } - } - } - }, - "NetworkTables": { - "transitory": { - "SmartDashboard": { - "Field": { - "open": true - }, - "open": true - } } }, "NetworkTables Info": { "visible": true - }, - "NetworkTables View": { - "visible": false - }, - "Plot": { - "Plot <0>": { - "plots": [ - { - "backgroundColor": [ - 0.0, - 0.0, - 0.0, - 0.8500000238418579 - ], - "height": 332 - } - ], - "window": { - "visible": false - } - } } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2429243..ecfaa45 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -71,13 +71,18 @@ public class RobotContainer { AllumeLED allumeLED = new AllumeLED(LED, accumulateur); Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED); public RobotContainer() { - dashboard.addCamera("limelight", "limelight","limelight.local:5800"); + dashboard.addCamera("limelight", "limelight","limelight.local:5800") + .withSize(3,4) + .withPosition(7,0); NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur)); NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur)); NamedCommands.registerCommand("piston", new PistonFerme(grimpeur)); autoChooser = AutoBuilder.buildAutoChooser(); - CameraServer.startAutomaticCapture(); + dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream") + .withSize(4, 4) + .withPosition(3, 0); + manette.a().whileTrue(new GuiderBas(guideur)); manette.b().whileTrue(new GuiderHaut(guideur)); manette.x().whileTrue(new PistonFerme(grimpeur)); @@ -103,7 +108,7 @@ public class RobotContainer { LED.setDefaultCommand(allumeLED); dashboard.add("autochooser",autoChooser) .withSize(2,1) - .withPosition(1,1); + .withPosition(0,1); } private void configureBindings() {} diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java index 0392f21..30380ef 100644 --- a/src/main/java/frc/robot/command/LancerAmp.java +++ b/src/main/java/frc/robot/command/LancerAmp.java @@ -38,7 +38,7 @@ public class LancerAmp extends Command { // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { - lancer.lancer(0); + lancer.lanceramp(); accumulateur.Accumuler(0); } diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index 88df883..c72aecf 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -20,7 +20,7 @@ public class Accumulateur extends SubsystemBase { private GenericEntry vitesse = dashboard.add("vitesseacc", 0.5) .withSize(1, 1) - .withPosition(4, 3) + .withPosition(2, 2) .getEntry(); final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2); final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc); @@ -32,7 +32,9 @@ public class Accumulateur extends SubsystemBase { } public Accumulateur() { - dashboard.addBoolean("limitacc", this::limitswitch); + dashboard.addBoolean("limitacc", this::limitswitch) + .withSize(1, 1) + .withPosition(2, 0); } public void Accumuler(double vitesse){ Moteuracc.set(-vitesse); diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index e16af68..0f6dd4e 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -23,8 +23,8 @@ public class Grimpeur extends SubsystemBase { ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardLayout layout = Shuffleboard.getTab("dashboard") .getLayout("grimpeur", BuiltInLayouts.kList) - .withSize(2,4) - .withPosition(2,1); + .withSize(2,2) + .withPosition(0,2); final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); // limit switch diff --git a/src/main/java/frc/robot/subsystem/Guideur.java b/src/main/java/frc/robot/subsystem/Guideur.java index 66f34e9..4a59907 100644 --- a/src/main/java/frc/robot/subsystem/Guideur.java +++ b/src/main/java/frc/robot/subsystem/Guideur.java @@ -16,16 +16,17 @@ public class Guideur extends SubsystemBase { /** Creates a new Guideur. */ ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); - ShuffleboardLayout layout = Shuffleboard.getTab("dashboard") - .getLayout("grimpeur") - .withSize(2, 2) - .withPosition(1, 3); + final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur); final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut); final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas); public Guideur() { - dashboard.addBoolean("limitguideurhaut", guideurhaut::get); - dashboard.addBoolean("limitguideurbas", guideurbas::get); + dashboard.addBoolean("limitguideurhaut", guideurhaut::get) + .withSize(1,1) + .withPosition(0,0); + dashboard.addBoolean("limitguideurbas", guideurbas::get) + .withSize(1,1) + .withPosition(1,0); } public void guider(double vitesse){ guideur.set(vitesse); diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index 7730b2b..d57e8b1 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -18,12 +18,12 @@ public class Lanceur extends SubsystemBase { private GenericEntry vitesse = dashboard.add("vitesse", 0.8) .withSize(1, 1) - .withPosition(3, 3) + .withPosition(2,1) .getEntry(); private GenericEntry vitesseamp = dashboard.add("vitesseamp", 0.1) .withSize(1, 1) - .withPosition(3, 4) + .withPosition(2,3) .getEntry(); public Lanceur() {