Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

src/main/java/frc/robot/PixyException.java

@@ -1,8 +0,0 @@
-package frc.robot;
-
-public class PixyException extends Exception {
-	public PixyException(String message){
-		super(message);
-	}
-
-}

src/main/java/frc/robot/PixyPacket.java

@@ -1,9 +0,0 @@
-package frc.robot;
-
-public class PixyPacket {
-	public int X;
-	public int Y;
-	public int Width;
-	public int Height;
-
-}

src/main/java/frc/robot/RobotContainer.java

@@ -8,7 +8,6 @@ import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -55,13 +54,11 @@ public class RobotContainer {
   Limelight limelight = new Limelight();
   CommandJoystick joystick = new CommandJoystick(0);
   CommandXboxController manette = new CommandXboxController(1);
-  /*private final Relay blue = new Relay(0);
-  private final Relay rouge = new Relay(1);
-  private final Relay vert = new Relay(2);*/
    //command
    PistonFerme pistonFerme = new PistonFerme(grimpeur);
    Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
+  GuiderBas guiderBas = new GuiderBas(guideur);
   Lancer lancer = new Lancer(lanceur,limelight);
   LancerNote lancernote = new LancerNote(lanceur, accumulateur);
   Lancerampli lancerampli = new Lancerampli(lanceur,limelight);

src/main/java/frc/robot/command/GuiderHaut.java

@@ -40,6 +40,6 @@ public class GuiderHaut extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-return guideur.haut()==true; 
+    return guideur.haut()==true;
   }
 }

src/main/java/frc/robot/command/RobotPixy.java

@@ -1,40 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystem.Drive;
-import frc.robot.subsystem.Pixy;
-
-public class RobotPixy extends Command {
-  private Pixy pixy;
-  private Drive drive;
-  /** Creates a new RobotPixy. */
-  public RobotPixy(Pixy pixy,Drive drive) {
-    this.drive = drive;
-    this.pixy = pixy;
-    addRequirements(drive,pixy);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/subsystem/Pixy.java

@@ -1,75 +0,0 @@
-package frc.robot.subsystem;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.PixyException;
-import frc.robot.PixyPacket;
-import edu.wpi.first.wpilibj.SerialPort;
-import edu.wpi.first.wpilibj.SerialPort.Port;
-//Warning: if the pixy is plugged in through mini usb, this code WILL NOT WORK b/c the pixy is smart and detects where it should send data
-public class Pixy extends SubsystemBase {
-	SerialPort pixy;
-	Port port = Port.kMXP;
-	PixyPacket[] packets;
-	PixyException pExc;
-	String print;
-
-	public Pixy() {
-		pixy = new SerialPort(19200, port);
-		pixy.setReadBufferSize(14);
-		packets = new PixyPacket[7];
-		pExc = new PixyException(print);
-	}
-	//This method parses raw data from the pixy into readable integers
-	public int cvt(byte upper, byte lower) {
-		return (((int)upper & 0xff) << 8) | ((int)lower & 0xff);
-	}
-	public void pixyReset(){
-		pixy.reset();
-	}
-	//This method gathers data, then parses that data, and assigns the ints to global variables
-	public PixyPacket readPacket(int Signature) throws PixyException {
-		int Checksum;
-		int Sig;
-		byte[] rawData = new byte[32];
-		try{
-			rawData = pixy.read(32);
-		} catch (RuntimeException e){
-			
-		}
-		if(rawData.length < 32){
-			return null;
-		}
-		for (int i = 0; i <= 16; i++) {
-			int syncWord = cvt(rawData[i+1], rawData[i+0]); //Parse first 2 bytes
-			if (syncWord == 0xaa55) {   //Check is first 2 bytes equal a "sync word", which indicates the start of a packet of valid data
-				syncWord = cvt(rawData[i+3], rawData[i+2]); //Parse the next 2 bytes
-				
-				if (syncWord != 0xaa55){ //Shifts everything in the case that one syncword is sent
-					i -= 2;              
-				}
-				//This next block parses the rest of the data
-					Checksum = cvt(rawData[i+5], rawData[i+4]);					
-					Sig = cvt(rawData[i+7], rawData[i+6]);
-					if(Sig <= 0 || Sig > packets.length){
-						break;
-					}
-					packets[Sig - 1] = new PixyPacket();
-					packets[Sig - 1].X = cvt(rawData[i+9], rawData[i+8]);
-					packets[Sig - 1].Y = cvt(rawData[i+11], rawData[i+10]);
-					packets[Sig - 1].Width = cvt(rawData[i+13], rawData[i+12]);
-					packets[Sig - 1].Height = cvt(rawData[i+15], rawData[i+14]);
-					//Checks whether the data is valid using the checksum *This if block should never be entered*
-					if (Checksum != Sig + packets[Sig - 1].X + packets[Sig - 1].Y + packets[Sig - 1].Width + packets[Sig - 1].Height) {
-						packets[Sig - 1] = null;
-						throw pExc;
-					}
-					break;
-			}
-		}
-		//Assigns our packet to a temp packet, then deletes data so that we dont return old data
-		
-		PixyPacket pkt = packets[Signature - 1];
-		packets[Signature - 1] = null;
-		return pkt;
-	}
-}