From 5e44778df54573f5b93d47dd43b9eba712614740 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 24 Jan 2024 18:28:35 -0500 Subject: [PATCH] --- src/main/java/frc/robot/Constants.java | 9 +++++++-- src/main/java/frc/robot/subsystem/Grimpeur.java | 15 +++++++++++++++ 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index ca8a00f..8c918b3 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -42,12 +42,17 @@ public class Constants { public static int ArriereDroit = 6; public static int ArriereGauche = 7; - // Limit switsh + // Limit switch public static int guideurhaut = 23; public static int guideurbas = 24; public static int limitacc = 25; public static int limitacc2 = 76; public static int limithaut = 28; public static int limitbas = 29; - + + //piston + public static int pistondroiteouvre= 30; + public static int pistondroiteferme= 31; + public static int pistondgaucheouvre= 32; + public static int pistondgauchferme= 32; } diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 447132b..aa1aa2e 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -9,6 +9,10 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.PneumaticsModuleType; +import edu.wpi.first.wpilibj.Solenoid; +import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -21,6 +25,8 @@ public class Grimpeur extends SubsystemBase { // limit switch final DigitalInput limitdroite = new DigitalInput(Constants.limithaut); final DigitalInput limitgauche = new DigitalInput(Constants.limitbas); + final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre); + final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre); //fonction public void droit(double vitesse){ grimpeurd.set(vitesse); @@ -40,10 +46,19 @@ public void resetencodeurd(){ public void resetencodeurg(){ grimpeurg.getEncoder().setPosition(0); } + public AHRS gyroscope = new AHRS(); public double getpitch(){ return gyroscope.getPitch(); } + public void pistonouvre(){ + pistondroite.set(Value.kForward); + pistondgauche.set(Value.kForward); + } + public void pistonferme(){ + pistondroite.set(Value.kReverse); + pistondgauche.set(Value.kReverse); + } @Override public void periodic() { // This method will be called once per scheduler run