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 2024-01-23 19:00:22 -05:00
commit fb2528a61d
3 changed files with 38 additions and 2 deletions
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1
src/main/java/frc/robot/Constants.java
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@ -46,6 +46,7 @@ public class Constants {
public static int guideurhaut = 23; public static int guideurhaut = 23;
public static int guideurbas = 24; public static int guideurbas = 24;
public static int limitacc = 25; public static int limitacc = 25;
public static int limitacc2 = 76;
public static int limithaut = 28; public static int limithaut = 28;
public static int limitbas = 29; public static int limitbas = 29;

33
src/main/java/frc/robot/RobotContainer.java
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@ -4,12 +4,45 @@
package frc.robot; package frc.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
// Manette
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
// Subsystem
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse;
import frc.robot.subsystem.Drive;
import frc.robot.subsystem.Grimpeur;
import frc.robot.subsystem.Guideur;
import frc.robot.subsystem.Lanceur;
public class RobotContainer { public class RobotContainer {
Drive drive = new Drive();
Accumulateur accumulateur = new Accumulateur();
Balayeuse balayeuse = new Balayeuse();
Grimpeur grimpeur = new Grimpeur();
Guideur guideur = new Guideur();
Lanceur lanceur = new Lanceur();
CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1);
public RobotContainer() { public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings(); configureBindings();
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));
} }
private void configureBindings() {} private void configureBindings() {}

6
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -16,10 +16,12 @@ public class Accumulateur extends SubsystemBase {
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);
final DigitalInput limitacc = new DigitalInput(0); final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
final DigitalInput limitacc2 = new DigitalInput(Constants.limitacc2);
public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);} public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);} public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
public boolean limitswitch1(){return limitacc.get();}
public boolean limitswitch2(){return limitacc2.get();}
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run