PLS5618/robot-2024
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Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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This commit is contained in:
samuel desharnais 2024-02-23 09:06:34 -05:00
commit 78454fd3f5
7 changed files with 17 additions and 17 deletions
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2
src/main/java/frc/robot/Constants.java
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@ -48,5 +48,5 @@ public class Constants {
public static int photocellacc = 2; public static int photocellacc = 2;
//piston //piston
public static int pistondroiteouvre= 7; public static int pistondroite= 7;
} }

7
src/main/java/frc/robot/RobotContainer.java
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@ -75,7 +75,7 @@ public class RobotContainer {
.withPosition(7,0); .withPosition(7,0);
dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream") 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); .withPosition(3, 0);
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
@ -95,6 +95,7 @@ public class RobotContainer {
joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive))); 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(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive)));
joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur)); joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur));
joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive));
// deplacement // deplacement
configureBindings(); configureBindings();
drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{
@ -108,8 +109,8 @@ public class RobotContainer {
,grimpeur)); ,grimpeur));
dashboard.add("autochooser",autoChooser) dashboard.add("autochooser",autoChooser)
.withSize(2,1) .withSize(1,1)
.withPosition(1,1); .withPosition(2,2);
} }
private void configureBindings() {} private void configureBindings() {}

4
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -20,7 +20,7 @@ public class Accumulateur extends SubsystemBase {
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesseacc", 0.5) dashboard.add("vitesseacc", 0.5)
.withSize(1, 1) .withSize(1, 1)
.withPosition(2, 2) .withPosition(0, 0)
.getEntry(); .getEntry();
final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2); final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc); final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
@ -34,7 +34,7 @@ public class Accumulateur extends SubsystemBase {
dashboard.addBoolean("limitacc", this::limitswitch) dashboard.addBoolean("limitacc", this::limitswitch)
.withSize(1, 1) .withSize(1, 1)
.withPosition(2, 0); .withPosition(0, 1);
} }
public void Accumuler(double vitesse){ public void Accumuler(double vitesse){
Moteuracc.set(-vitesse); Moteuracc.set(-vitesse);

2
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase {
final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless);
// limit switch // limit switch
final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroiteouvre); final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite);
//fonction //fonction
public Grimpeur() { public Grimpeur() {
pistonouvre(); pistonouvre();

4
src/main/java/frc/robot/subsystem/Guideur.java
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@ -23,10 +23,10 @@ public class Guideur extends SubsystemBase {
public Guideur() { public Guideur() {
dashboard.addBoolean("limitguideurhaut", guideurhaut::get) dashboard.addBoolean("limitguideurhaut", guideurhaut::get)
.withSize(1,1) .withSize(1,1)
.withPosition(0,0); .withPosition(1,1);
dashboard.addBoolean("limitguideurbas", guideurbas::get) dashboard.addBoolean("limitguideurbas", guideurbas::get)
.withSize(1,1) .withSize(1,1)
.withPosition(1,0); .withPosition(2,1);
} }
public void guider(double vitesse){ public void guider(double vitesse){
guideur.set(vitesse); guideur.set(vitesse);

9
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -12,7 +12,6 @@ import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure; import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity; import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage; 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.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
@ -29,12 +28,12 @@ public class Lanceur extends SubsystemBase {
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesse", 0.8) dashboard.add("vitesse", 0.8)
.withSize(1, 1) .withSize(1, 1)
.withPosition(2,1) .withPosition(2,0)
.getEntry(); .getEntry();
private GenericEntry vitesseamp = private GenericEntry vitesseamp =
dashboard.add("vitesseamp", 0.1) dashboard.add("vitesseamp", 0.1)
.withSize(1, 1) .withSize(1, 1)
.withPosition(2,3) .withPosition(1,0)
.getEntry(); .getEntry();
public Lanceur() { public Lanceur() {

6
src/main/java/frc/robot/subsystem/Limelight.java
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@ -24,12 +24,12 @@ public class Limelight extends SubsystemBase {
/** Creates a new Limelight. */ /** Creates a new Limelight. */
public Limelight() { public Limelight() {
for (int port = 5800; port <= 5807; port++) { for (int port = 5800; port <= 5807; port++) {
PortForwarder.add(port, "limelight.local", port); PortForwarder.add(port, "limelight.local", port);
} }
} }
public double getx(){ public double getx(){
return tx.getDouble(0); return tx.getDouble(0);
} }
public double gety(){ public double gety(){
return ty.getDouble(0); return ty.getDouble(0);