From 83d20b577d1e563b0485934ef034ccba9be3f3ab Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 22 Jan 2024 18:42:19 -0500 Subject: [PATCH 1/5] 4 moteur lanceur --- src/main/java/frc/robot/Constants.java | 18 ++++++++++-------- src/main/java/frc/robot/subsystem/Lanceur.java | 2 ++ 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 04557d8..9f9f786 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -9,14 +9,16 @@ public class Constants { //moteur public static int lanceur = 1; public static int lancer2 = 2; - public static int roue = 3; - public static int etoile = 4; - public static int Moteuracc2 = 5; - public static int Moteuracc = 6; - public static int guideur = 7; + public static int lanceur3 = 3; + public static int lancer4 = 4; + public static int roue = 5; + public static int etoile = 6; + public static int Moteuracc2 = 7; + public static int Moteuracc = 8; + public static int guideur = 9; // limit switsh - public static int guideurhaut = 8; - public static int guideurbas = 9; - public static int limitacc = 58; + public static int guideurhaut = 10; + public static int guideurbas = 11; + public static int limitacc = 12; } diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index dc7ee09..6433d05 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -18,6 +18,8 @@ public class Lanceur extends SubsystemBase { public Lanceur() {} final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless); + final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); + final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless); public void lancer(double vitesse){ lancer.set(vitesse); } From ecd0304e00a0f33fc937deff71429b6125d769aa Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 22 Jan 2024 18:45:09 -0500 Subject: [PATCH 2/5] master slave --- src/main/java/frc/robot/subsystem/Lanceur.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index 6433d05..bc8b4e2 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -25,6 +25,8 @@ public class Lanceur extends SubsystemBase { } public void lanceur(){ lancer2.follow(lancer); + lancer3.follow(lancer); + lancer4.follow(lancer); } From c5bc8f4528526c67a15daf2d08a5f26769c3fc7a Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 22 Jan 2024 18:49:45 -0500 Subject: [PATCH 3/5] lanceur --- src/main/java/frc/robot/subsystem/Grimpeur.java | 1 + src/main/java/frc/robot/subsystem/Lanceur.java | 2 ++ 2 files changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 62d22be..cff76db 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Grimpeur extends SubsystemBase { /** Creates a new Acrocheur. */ public Grimpeur() {} + final @Override public void periodic() { diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index bc8b4e2..45e0a1e 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -27,6 +27,8 @@ public class Lanceur extends SubsystemBase { lancer2.follow(lancer); lancer3.follow(lancer); lancer4.follow(lancer); + lancer3.setInverted(true); + lancer4.setInverted(true); } From 2404f94faa37fcba3ec76f2055822f71308c074f Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 22 Jan 2024 19:12:16 -0500 Subject: [PATCH 4/5] --- src/main/java/frc/robot/Constants.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 9f9f786..66aaf3b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -16,9 +16,15 @@ public class Constants { public static int Moteuracc2 = 7; public static int Moteuracc = 8; public static int guideur = 9; + public static int grimpeurd = 13; + public static int grimpeurg = 14; // limit switsh public static int guideurhaut = 10; public static int guideurbas = 11; public static int limitacc = 12; + public static int limitbasd =15; + public static int limitbasg =16; + public static int limithautd =17; + public static int limithautg =18; } From 24ac20a097a59de8e21996738d8a4df14b2d4ed5 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 22 Jan 2024 19:32:35 -0500 Subject: [PATCH 5/5] grimpeur --- src/main/java/frc/robot/Constants.java | 6 +-- .../java/frc/robot/subsystem/Grimpeur.java | 41 ++++++++++++++++++- 2 files changed, 41 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 66aaf3b..2ee83c7 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -22,9 +22,7 @@ public class Constants { public static int guideurhaut = 10; public static int guideurbas = 11; public static int limitacc = 12; - public static int limitbasd =15; - public static int limitbasg =16; - public static int limithautd =17; - public static int limithautg =18; + public static int limitbas =15; + public static int limithaut =16; } diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index cff76db..b61e3c5 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -4,15 +4,52 @@ package frc.robot.subsystem; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; public class Grimpeur extends SubsystemBase { /** Creates a new Acrocheur. */ + // moteur public Grimpeur() {} - final - + final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); + final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); + // limit switch + final DigitalInput limitdroite = new DigitalInput(Constants.limithaut); + final DigitalInput limitgauche = new DigitalInput(Constants.limitbas); + //fonction +public void droit(double vitesse){ + grimpeurd.set(vitesse); +} +public void gauche(double vitesse){ + grimpeurg.set(vitesse); +} +public boolean droite(){ + return limitdroite.get(); +} +public boolean gauche(){ + return limitgauche.get(); +} +public void resetencodeurd(){ + grimpeurd.getEncoder().setPosition(0); +} +public void resetencodeurg(){ + grimpeurg.getEncoder().setPosition(0); +} +public void grimpeur(){ + grimpeurg.follow(grimpeurd); +} @Override public void periodic() { // This method will be called once per scheduler run + if(droite()) { + resetencodeurd(); + } + if(gauche()) { + resetencodeurg(); + } } }