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
2024-02-19 20:00:58 -05:00
parent b0830bbe39 756d37f0e4
commit 84f4f4ad46
7 changed files with 25 additions and 102 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -71,14 +71,20 @@ public class RobotContainer {
AllumeLED allumeLED = new AllumeLED(LED, accumulateur);
Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
public RobotContainer() {
dashboard.addCamera("limelight", "limelight","limelight.local:5800");
dashboard.addCamera("limelight", "limelight","limelight.local:5800")
.withSize(3,4)
.withPosition(7,0);
NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
/*manette.a().whileTrue(new GuiderBas(guideur));
dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
.withSize(4, 4)
.withPosition(3, 0);
manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur));
manette.x().whileTrue(new PistonFerme(grimpeur));
manette.y().whileTrue(new PistonOuvre(grimpeur));

2
src/main/java/frc/robot/command/LancerAmp.java
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@ -38,7 +38,7 @@ public class LancerAmp extends Command {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lancer.lancer(0);
lancer.lanceramp();
accumulateur.Accumuler(0);
}

6
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -20,7 +20,7 @@ public class Accumulateur extends SubsystemBase {
private GenericEntry vitesse =
dashboard.add("vitesseacc", 0.5)
.withSize(1, 1)
.withPosition(4, 3)
.withPosition(2, 2)
.getEntry();
final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
@ -32,7 +32,9 @@ public class Accumulateur extends SubsystemBase {
}
public Accumulateur() {
dashboard.addBoolean("limitacc", this::limitswitch);
dashboard.addBoolean("limitacc", this::limitswitch)
.withSize(1, 1)
.withPosition(2, 0);
}
public void Accumuler(double vitesse){
Moteuracc.set(-vitesse);

4
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -23,8 +23,8 @@ public class Grimpeur extends SubsystemBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
ShuffleboardLayout layout = Shuffleboard.getTab("dashboard")
.getLayout("grimpeur", BuiltInLayouts.kList)
.withSize(2,4)
.withPosition(2,1);
.withSize(2,2)
.withPosition(0,2);
final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless);
// limit switch

13
src/main/java/frc/robot/subsystem/Guideur.java
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@ -16,16 +16,17 @@ public class Guideur extends SubsystemBase {
/** Creates a new Guideur. */
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
ShuffleboardLayout layout = Shuffleboard.getTab("dashboard")
.getLayout("grimpeur")
.withSize(2, 2)
.withPosition(1, 3);
final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
public Guideur() {
dashboard.addBoolean("limitguideurhaut", guideurhaut::get);
dashboard.addBoolean("limitguideurbas", guideurbas::get);
dashboard.addBoolean("limitguideurhaut", guideurhaut::get)
.withSize(1,1)
.withPosition(0,0);
dashboard.addBoolean("limitguideurbas", guideurbas::get)
.withSize(1,1)
.withPosition(1,0);
}
public void guider(double vitesse){
guideur.set(vitesse);

6
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -29,13 +29,13 @@ public class Lanceur extends SubsystemBase {
private GenericEntry vitesse =
dashboard.add("vitesse", 0.8)
.withSize(1, 1)
.withPosition(3, 3)
.withPosition(2,1)
.getEntry();
private GenericEntry vitesseamp =
dashboard.add("vitesseamp", 0.1)
.withSize(1, 1)
.withPosition(3, 4)
.getEntry();
.withPosition(2,3)
.getEntry();
public Lanceur() {
}