PLS5618/robot-2024
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revenu a la normal

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samuel desharnais
2024-02-20 17:50:35 -05:00
parent 84f4f4ad46
commit b46109fe0b
2 changed files with 9 additions and 24 deletions
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25
src/main/java/frc/robot/RobotContainer.java
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@@ -79,7 +79,7 @@ public class RobotContainer {
NamedCommands.registerCommand("piston", new PistonFerme(grimpeur)); NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser(); autoChooser = AutoBuilder.buildAutoChooser();
/*manette.a().whileTrue(new GuiderBas(guideur)); manette.a().whileTrue(new GuiderBas(guideur));
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, 4)
.withPosition(3, 0); .withPosition(3, 0);
@@ -92,11 +92,11 @@ public class RobotContainer {
joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur)); joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur)); joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
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),new GuiderHaut(guideur)));*/ joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));
// deplacement // deplacement
configureBindings(); configureBindings();
/* drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{
drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2)); drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2));
},drive)); },drive));
@@ -109,23 +109,8 @@ public class RobotContainer {
LED.setDefaultCommand(allumeLED); LED.setDefaultCommand(allumeLED);
dashboard.add("autochooser",autoChooser) dashboard.add("autochooser",autoChooser)
.withSize(2,1) .withSize(2,1)
.withPosition(1,1);*/ .withPosition(1,1);
manette
.a()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette
.b()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette
.x()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette
.y()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdDynamic(SysIdRoutine.Direction.kReverse));
} }

8
src/main/java/frc/robot/subsystem/Lanceur.java
View File

@@ -69,7 +69,7 @@ public class Lanceur extends SubsystemBase {
new SysIdRoutine.Mechanism( new SysIdRoutine.Mechanism(
// Tell SysId how to plumb the driving voltage to the motor(s). // Tell SysId how to plumb the driving voltage to the motor(s).
(Measure<Voltage> volts) -> { (Measure<Voltage> volts) -> {
lanceur1.setVoltage(volts.in(Volts)); lanceur4.setVoltage(volts.in(Volts));
}, },
// Tell SysId how to record a frame of data for each motor on the mechanism being // Tell SysId how to record a frame of data for each motor on the mechanism being
// characterized. // characterized.
@@ -78,10 +78,10 @@ public class Lanceur extends SubsystemBase {
log.motor("shooter-wheel") log.motor("shooter-wheel")
.voltage( .voltage(
appliedVoltage.mut_replace( appliedVoltage.mut_replace(
lanceur1.get() * RobotController.getBatteryVoltage(), Volts)) lanceur4.get() * RobotController.getBatteryVoltage(), Volts))
.angularPosition(angle.mut_replace(lanceur1.getEncoder().getPosition(), Rotations)) .angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations))
.angularVelocity( .angularVelocity(
velocity.mut_replace(lanceur1.getEncoder().getVelocity(), RotationsPerSecond)); velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond));
}, },
// Tell SysId to make generated commands require this subsystem, suffix test state in // Tell SysId to make generated commands require this subsystem, suffix test state in
// WPILog with this subsystem's name ("shooter") // WPILog with this subsystem's name ("shooter")