From cf99f6257ede6b477e8e0490369a1d42567562c2 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Thu, 22 Feb 2024 18:03:27 -0500 Subject: [PATCH 1/7] bien placer autochooser dans le dashboard --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d2584fc..66da0bf 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -108,7 +108,7 @@ public class RobotContainer { dashboard.add("autochooser",autoChooser) .withSize(2,1) - .withPosition(1,1); + .withPosition(0,1); } private void configureBindings() {} From ea1e6df458cc152fd512ce484e53d120609d46d0 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 22 Feb 2024 18:23:22 -0500 Subject: [PATCH 2/7] photocell inverse --- src/main/java/frc/robot/subsystem/Accumulateur.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index c72aecf..f5a724a 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -28,7 +28,7 @@ public class Accumulateur extends SubsystemBase { public boolean limitswitch(){ - return !photocellacc.get(); + return photocellacc.get(); } public Accumulateur() { From 158fe62aa6fc018125daefbd5ac4eb599a791c80 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 22 Feb 2024 18:43:14 -0500 Subject: [PATCH 3/7] --- src/main/java/frc/robot/subsystem/Limelight.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystem/Limelight.java b/src/main/java/frc/robot/subsystem/Limelight.java index a3aa993..383685a 100644 --- a/src/main/java/frc/robot/subsystem/Limelight.java +++ b/src/main/java/frc/robot/subsystem/Limelight.java @@ -24,12 +24,12 @@ public class Limelight extends SubsystemBase { /** Creates a new Limelight. */ public Limelight() { for (int port = 5800; port <= 5807; port++) { - PortForwarder.add(port, "limelight.local", port); - } + PortForwarder.add(port, "limelight.local", port); + } } public double getx(){ - return tx.getDouble(0); + return tx.getDouble(0); } public double gety(){ return ty.getDouble(0); From a8451e205e3decd8a5bae7e3e2cb39e2403417bd Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 22 Feb 2024 19:29:13 -0500 Subject: [PATCH 4/7] --- src/main/java/frc/robot/subsystem/Accumulateur.java | 2 +- src/main/java/frc/robot/subsystem/Grimpeur.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index f5a724a..c72aecf 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -28,7 +28,7 @@ public class Accumulateur extends SubsystemBase { public boolean limitswitch(){ - return photocellacc.get(); + return !photocellacc.get(); } public Accumulateur() { diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 0f6dd4e..af1b298 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase { final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); // limit switch - final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroiteouvre); + final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre); //fonction public Grimpeur() { pistonouvre(); From 7e9e022bee27e18fc8a9772d3712cf30f7b4de1b Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Thu, 22 Feb 2024 19:29:19 -0500 Subject: [PATCH 5/7] DASHBOARD FINI baleeuse --- src/main/java/frc/robot/RobotContainer.java | 6 +++--- src/main/java/frc/robot/subsystem/Accumulateur.java | 4 ++-- src/main/java/frc/robot/subsystem/Guideur.java | 4 ++-- src/main/java/frc/robot/subsystem/Lanceur.java | 9 ++++----- 4 files changed, 11 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4e05ed8..d189131 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -75,7 +75,7 @@ public class RobotContainer { .withPosition(7,0); dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream") - .withSize(4, 4) + .withSize(4, 3) .withPosition(3, 0); CameraServer.startAutomaticCapture(); @@ -108,8 +108,8 @@ public class RobotContainer { ,grimpeur)); dashboard.add("autochooser",autoChooser) - .withSize(2,1) - .withPosition(0,1); + .withSize(1,1) + .withPosition(2,2); } private void configureBindings() {} diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index c72aecf..e8d0b6b 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -20,7 +20,7 @@ public class Accumulateur extends SubsystemBase { private GenericEntry vitesse = dashboard.add("vitesseacc", 0.5) .withSize(1, 1) - .withPosition(2, 2) + .withPosition(0, 0) .getEntry(); final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2); final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc); @@ -34,7 +34,7 @@ public class Accumulateur extends SubsystemBase { dashboard.addBoolean("limitacc", this::limitswitch) .withSize(1, 1) - .withPosition(2, 0); + .withPosition(0, 1); } public void Accumuler(double vitesse){ Moteuracc.set(-vitesse); diff --git a/src/main/java/frc/robot/subsystem/Guideur.java b/src/main/java/frc/robot/subsystem/Guideur.java index 4a59907..4b196c1 100644 --- a/src/main/java/frc/robot/subsystem/Guideur.java +++ b/src/main/java/frc/robot/subsystem/Guideur.java @@ -23,10 +23,10 @@ public class Guideur extends SubsystemBase { public Guideur() { dashboard.addBoolean("limitguideurhaut", guideurhaut::get) .withSize(1,1) - .withPosition(0,0); + .withPosition(1,1); dashboard.addBoolean("limitguideurbas", guideurbas::get) .withSize(1,1) - .withPosition(1,0); + .withPosition(2,1); } public void guider(double vitesse){ guideur.set(vitesse); diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index c377812..7f488c9 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -12,7 +12,6 @@ import edu.wpi.first.units.Measure; import edu.wpi.first.units.MutableMeasure; import edu.wpi.first.units.Velocity; import edu.wpi.first.units.Voltage; -import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.Command; @@ -29,12 +28,12 @@ public class Lanceur extends SubsystemBase { private GenericEntry vitesse = dashboard.add("vitesse", 0.8) .withSize(1, 1) - .withPosition(2,1) - .getEntry(); - private GenericEntry vitesseamp = + .withPosition(2,0) + .getEntry(); + private GenericEntry vitesseamp = dashboard.add("vitesseamp", 0.1) .withSize(1, 1) - .withPosition(2,3) + .withPosition(1,0) .getEntry(); public Lanceur() { From 103ae14972bbaf12f5dae5c575e7e0a7db48321c Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 22 Feb 2024 19:53:25 -0500 Subject: [PATCH 6/7] f --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/subsystem/Grimpeur.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 39e0872..2de88e6 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -48,5 +48,5 @@ public class Constants { public static int photocellacc = 2; //piston - public static int pistondroiteouvre= 7; + public static int pistondroite= 7; } diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index af1b298..6b71405 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase { final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); // limit switch - final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre); + final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroite); //fonction public Grimpeur() { pistonouvre(); From ad43cbbb89b852f679d43042bc7640ba1245536b Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Thu, 22 Feb 2024 20:28:52 -0500 Subject: [PATCH 7/7] j --- src/main/java/frc/robot/RobotContainer.java | 1 + src/main/java/frc/robot/subsystem/Grimpeur.java | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d189131..a9bc803 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -95,6 +95,7 @@ public class RobotContainer { joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive))); joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive))); joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur)); + joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive)); // deplacement configureBindings(); drive.setDefaultCommand(new RunCommand(()->{ diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java index 6b71405..47654d7 100644 --- a/src/main/java/frc/robot/subsystem/Grimpeur.java +++ b/src/main/java/frc/robot/subsystem/Grimpeur.java @@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase { final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); // limit switch - final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroite); + final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite); //fonction public Grimpeur() { pistonouvre();