Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot
This commit is contained in:
commit
36c15844b1
@ -13,11 +13,11 @@ public class Constants {
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public static int lancer4 = 15;
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// Ballayeuse
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public static int roue = 16;
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public static int etoile = 19;
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public static int etoile = 21;
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// Accumulateur
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public static int Moteuracc2 = 20;
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public static int Moteuracc = 21;
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public static int Moteuracc = 19;
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// Guideur
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public static int guideur = 22;
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@ -43,8 +43,8 @@ public class Constants {
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public static int ArriereGauche = 6;
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// Limit switch
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public static int guideurhaut = 0;
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public static int guideurbas = 1;
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public static int guideurhaut = 4;
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public static int guideurbas = 5;
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public static int photocellacc = 2;
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public static int limithaut = 4;
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public static int limitbas = 5;
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@ -65,8 +65,8 @@ public class RobotContainer {
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Lancer lancer = new Lancer(lanceur,limelight);
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LancerNote lancernote = new LancerNote(lanceur, accumulateur);
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Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
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GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
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GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightX);
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GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY);
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GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY);
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AllumeLED allumeLED = new AllumeLED(LED, accumulateur);
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Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
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public RobotContainer() {
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@ -80,7 +80,7 @@ public class RobotContainer {
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manette.a().whileTrue(new GuiderBas(guideur));
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manette.b().whileTrue(new GuiderHaut(guideur));
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manette.x().whileTrue(new PistonFerme(grimpeur));
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joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
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joystick.button(3).whileTrue(balayer);
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joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
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joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
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joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));
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@ -93,8 +93,8 @@ public class RobotContainer {
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// grimpeur manuel
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grimpeur.setDefaultCommand(new RunCommand(()->{
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grimpeur.droit(manette.getLeftX());
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grimpeur.gauche(manette.getRightX());}
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grimpeur.droit(manette.getLeftY());
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grimpeur.gauche(manette.getRightY());}
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,grimpeur));
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LED.setDefaultCommand(allumeLED);
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@ -26,7 +26,7 @@ public class Balayer extends Command {
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public void execute() {
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if(accumulateur.limitswitch()){
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balayeuse.balaye(0);
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accumulateur.Accumuler();
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accumulateur.Accumuler(0);
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}
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else{
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balayeuse.balaye(0.3);
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@ -26,10 +26,10 @@ public class LancerNote extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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double vitesse = 100;
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double vitesse = 0.5;
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lancer.lancerspeaker();
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if(lancer.vitesse(vitesse)>vitesse){
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accumulateur.Accumuler(0.6);
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accumulateur.Accumuler();
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}
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else{
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accumulateur.Accumuler(0);
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@ -18,7 +18,11 @@ public class Accumulateur extends SubsystemBase {
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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private GenericEntry vitesse =
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<<<<<<< HEAD
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dashboard.add("vitesseacc", 0.1)
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=======
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dashboard.add("vitesseacc", 0.5)
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>>>>>>> 9d55ab9afa804a6ffb304aee298f28ad470c396d
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.withSize(1, 1)
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.withPosition(4, 3)
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.getEntry();
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@ -27,11 +31,11 @@ public class Accumulateur extends SubsystemBase {
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final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);
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public void Deaccumuler(double vitesse){
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Moteuracc2.set(vitesse);
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Moteuracc2.set(-vitesse);
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Moteuracc.set(-vitesse);
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}
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public void moteuraccfollow(){
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Moteuracc.follow(Moteuracc2);
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Moteuracc.setInverted(true);
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}
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public boolean limitswitch(){
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return photocellacc.get();
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@ -15,13 +15,8 @@ public class Balayeuse extends SubsystemBase {
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public Balayeuse() {}
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final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
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final WPI_TalonSRX etoile = new WPI_TalonSRX(Constants.etoile);
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public void Accumulation(double vitesse){
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roue.set(vitesse);
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}
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public void balayeuse(){
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etoile.follow(roue);
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etoile.setInverted(true);
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}
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public void balaye(double vitesse){
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roue.set(vitesse);
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@ -16,12 +16,12 @@ public class Lanceur extends SubsystemBase {
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/** Creates a new Lanceur. */
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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private GenericEntry vitesse =
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dashboard.add("vitesse", 1)
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dashboard.add("vitesse", 0.5)
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.withSize(1, 1)
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.withPosition(3, 3)
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.getEntry();
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private GenericEntry vitesseamp =
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dashboard.add("vitesseamp", 1)
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dashboard.add("vitesseamp", 0.4)
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.withSize(1, 1)
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.withPosition(3, 4)
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.getEntry();
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@ -36,23 +36,22 @@ public class Lanceur extends SubsystemBase {
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lanceur1.getPIDController();
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}
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public void lancer(double vitesse){
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lanceur1.set(vitesse);
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lanceur1.set(-vitesse);
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lanceur2.set(-vitesse);
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lanceur3.set(vitesse);
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lanceur4.set(-vitesse);
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}
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public void lancerspeaker(){
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lancer(vitesse.getDouble(0.1));
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lancer(vitesse.getDouble(0.5));
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}
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public void lanceramp(){
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lancer(vitesseamp.getDouble(0.5));
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lancer(vitesseamp.getDouble(0.4));
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}
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public double vitesse(double vitesse){
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return lanceur1.getEncoder().getVelocity();
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}
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public void lanceur(){
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lanceur2.follow(lanceur1);
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lanceur3.follow(lanceur1);
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lanceur4.follow(lanceur1);
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lanceur3.setInverted(true);
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lanceur4.setInverted(true);
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}
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@Override
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