From b462661bbc7d39021f5a073c049890e19a58340c Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 12 Feb 2024 18:14:24 -0500 Subject: [PATCH 1/3] --- simgui.json | 5 +++++ src/main/java/frc/robot/subsystem/Grimpeur.java | 1 + 2 files changed, 6 insertions(+) diff --git a/simgui.json b/simgui.json index de3467e..6615be0 100644 --- a/simgui.json +++ b/simgui.json @@ -18,6 +18,11 @@ } }, "Solenoids": { + "0": { + "header": { + "open": true + } + }, "window": { "visible": true } diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 293bdec..8099c2f 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -39,6 +39,7 @@ public class Grimpeur extends SubsystemBase { final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre); //fonction public Grimpeur() { + pistonferme(); layout.addBoolean("limitgrimpeurd", limitdroite::get); layout.addBoolean("limitgrimpeurg", limitdroite::get); layout.add("grimpeurencodeurd", encoderd()); From bdccdd104d87c41c3005998fb9554458de6f687c Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 12 Feb 2024 18:16:07 -0500 Subject: [PATCH 2/3] --- src/main/java/frc/robot/RobotContainer.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3ea59f1..cfde281 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -71,7 +71,7 @@ public class RobotContainer { LancerNote lancernote = new LancerNote(lanceur, accumulateur); Lancerampli lancerampli = new Lancerampli(lanceur,limelight); GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX); - GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY); + GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightX); AllumeLED allumeLED = new AllumeLED(LED, accumulateur); Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED); public RobotContainer() { @@ -93,8 +93,10 @@ public class RobotContainer { drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2)); },drive)); grimpeur.setDefaultCommand(new RunCommand(()->{ - grimpeur.droit(manette.getLeftX());} + grimpeur.droit(manette.getLeftX()); + grimpeur.gauche(manette.getRightX());} ,grimpeur)); + LED.setDefaultCommand(allumeLED); dashboard.add("autochooser",autoChooser) .withSize(2,1) From 4a9f2e9b2b32a15e86a044d35023ded2d259209a Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 12 Feb 2024 18:16:20 -0500 Subject: [PATCH 3/3] --- src/main/java/frc/robot/subsystem/Grimpeur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 8b5ea5f..6589c72 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -35,7 +35,7 @@ public class Grimpeur extends SubsystemBase { final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre); //fonction public Grimpeur() { - pistonferme(); + pistonouvre(); layout.add("grimpeurencodeurd", encoderd()); layout.add("grimpeurencodeurg", encoderg()); layout.add("pitchgyrogrimpeur", getpitch());