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:
Olivier Dubois
2024-02-08 18:59:15 -05:00
parent 4dd6964cd1 afafcab866
commit ad5a6e2a94
7 changed files with 67 additions and 18 deletions
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22
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -12,6 +12,7 @@ import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@ -34,8 +35,8 @@ public class Grimpeur extends SubsystemBase {
// limit switch
final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre);
final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
//fonction
public Grimpeur() {
layout.addBoolean("limitgrimpeurd", limitdroite::get);
@ -72,15 +73,16 @@ public AHRS gyroscope = new AHRS();
public double getpitch(){
return gyroscope.getPitch();
}
public boolean pistonouvre(){
pistondroite.set(Value.kForward);
pistondgauche.set(Value.kForward);
return pistondroite.isFwdSolenoidDisabled();
}
public void pistonferme(){
pistondroite.set(Value.kReverse);
pistondgauche.set(Value.kReverse);
pistondroite.set(true);
pistondgauche.set(true);
}
public void pistonouvre(){
pistondgauche.set(false);
pistondroite.set(false);
}
public boolean piston(){
return pistondgauche.get();
}
@Override
public void periodic() {

15
src/main/java/frc/robot/subsystem/LED.java
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@ -12,14 +12,19 @@ public class LED extends SubsystemBase {
/** Creates a new LED. */
public LED() {}
AddressableLED led = new AddressableLED(9);
AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(60);
AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(150);
public void led(){
led.setData(ledBuffer);
led.start();
}
public void couleur(int R, int G, int B){
ledBuffer.setRGB(0, R, G, B);
led.start();}
public void couleur(int R, int G,int B){
for (int i = 0; i < ledBuffer.getLength(); i++) {
// Sets the specified LED to the RGB values for red
ledBuffer.setRGB(i, 255, 0, 0);}
}
@Override
public void periodic() {
// This method will be called once per scheduler run