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led fini

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This commit is contained in:
Samuel
2026-02-09 18:59:57 -05:00
parent dfd4810da4
commit 69e790ffd5
6 changed files with 136 additions and 18 deletions
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6
src/main/java/frc/robot/RobotContainer.java
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@@ -17,6 +17,7 @@ import frc.robot.commands.MonterGrimpeur;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.LimeLight3;
public class RobotContainer {
@@ -24,6 +25,7 @@ public class RobotContainer {
Grimpeur grimpeur = new Grimpeur();
Lanceur lanceur = new Lanceur();
LimeLight3 limeLight3 = new LimeLight3();
Led led = new Led();
CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() {
CameraServer.startAutomaticCapture();
@@ -31,12 +33,12 @@ public class RobotContainer {
}
private void configureBindings() {
manette.a().whileTrue(new Lancer(lanceur,limeLight3));
manette.a().whileTrue(new Lancer(lanceur,limeLight3,balayeuse,led));
manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
manette.b().whileTrue(new Aspirer(balayeuse));
manette.b().whileTrue(new Aspirer(balayeuse,led));
}
public Command getAutonomousCommand() {

31
src/main/java/frc/robot/commands/Aspirer.java
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@@ -4,33 +4,56 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Led;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class Aspirer extends Command {
private Balayeuse balayeuse;
private Timer timer;
private Led led;
/** Creates a new Aspirer. */
public Aspirer(Balayeuse balayeuse) {
public Aspirer(Balayeuse balayeuse, Led led) {
this.balayeuse = balayeuse;
addRequirements(balayeuse);
this.led = led;
this.timer = new Timer();
addRequirements(balayeuse, led);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
timer.reset();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
balayeuse.Balayer(0.5);
timer.start();
if(balayeuse.Amp() < 40){
timer.reset();
balayeuse.Balayer(0.5);
}
else if(balayeuse.Amp() > 40){
if(timer.get() > 2){
balayeuse.Balayer(0);
led.Jaune2();
}
else{
balayeuse.Balayer(0.5);
}
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
balayeuse.Balayer(0);
timer.stop();
}
// Returns true when the command should end.

47
src/main/java/frc/robot/commands/Lancer.java
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@@ -5,8 +5,11 @@
package frc.robot.commands;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.LimeLight3;
import frc.robot.subsystems.Limelight3G;
@@ -15,10 +18,15 @@ public class Lancer extends Command {
private Lanceur lanceur;
private PIDController pidController;
private Limelight3G limeLight3G;
private double output;
private Timer timer;
private Balayeuse balayeuse;
private Led led;
/** Creates a new Lancer. */
public Lancer(Lanceur lanceur, LimeLight3 limeLight3) {
public Lancer(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
this.lanceur = lanceur;
this.balayeuse = balayeuse;
this.led = led;
this.timer = new Timer();
this.limeLight3G = new Limelight3G();
addRequirements(lanceur);
// Use addRequirements() here to declare subsystem dependencies.
@@ -28,17 +36,41 @@ public class Lancer extends Command {
@Override
public void initialize() {
pidController = new PIDController(0, 0,0, 0);
timer.reset();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double vitesse = (100-limeLight3G.getTA())/100;
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse){
lanceur.Demeler(0.5);
timer.start();
if(lanceur.Amp() > 40){
timer.reset();
double vitesse = (100-limeLight3G.getTA())/100;
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse){
lanceur.Demeler(0.5);
}
}
else if(lanceur.Amp() < 40){
lanceur.Lancer(0);
lanceur.Demeler(0);
if(!balayeuse.GetLimiSwtich()){
balayeuse.Pivoter(0.2);
}
else{
balayeuse.Reset();
balayeuse.Pivoter(0);
double vitesse = (100-limeLight3G.getTA())/100;
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse){
lanceur.Demeler(0.5);
}
}
led.Vert2();
}
}
// Called once the command ends or is interrupted.
@@ -46,6 +78,7 @@ public class Lancer extends Command {
public void end(boolean interrupted) {
lanceur.Demeler(0);
lanceur.Lancer(0);
balayeuse.Pivoter(0);
}
// Returns true when the command should end.

10
src/main/java/frc/robot/subsystems/Balayeuse.java
View File

@@ -8,7 +8,9 @@ import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Balayeuse extends SubsystemBase {
@@ -32,6 +34,14 @@ public class Balayeuse extends SubsystemBase {
public boolean GetLimiSwtich(){
return limit.get();
}
public double Amp(){
return Balaye2.getOutputCurrent();
}
public void Temps(){
Timer timer = new Timer();
timer.start();
}
/** Creates a new Balayeuse. */
public Balayeuse() {}

3
src/main/java/frc/robot/subsystems/Lanceur.java
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@@ -23,6 +23,9 @@ public class Lanceur extends SubsystemBase {
public double Vitesse(){
return moteur1.getEncoder().getVelocity();
}
public double Amp(){
return moteur1.getOutputCurrent();
}
/** Creates a new Lanceur. */
public Lanceur() {
}

57
src/main/java/frc/robot/subsystems/Led.java
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@@ -16,13 +16,60 @@ public class Led extends SubsystemBase {
CANdle CANDle = new CANdle(7);
RainbowAnimation rainbowAnim = new RainbowAnimation();
public void bleu(){
CANDle.setLEDs(0, 0, 255);
CANDle.setLEDs(0, 0, 255,0,0,8);
CANDle.setLEDs(0, 0, 255,0,16,8);
CANDle.setLEDs(0, 0, 255,0,32,8);
CANDle.setLEDs(0, 0, 255,0,56,8);
CANDle.setLEDs(0, 0, 255,0,72,8);
CANDle.setLEDs(0, 0, 255,0,88,8);
CANDle.setLEDs(0, 0, 255,0,104,8);
CANDle.setLEDs(0, 0, 255,0,120,8);
CANDle.setLEDs(0, 0, 255,0,136,8);
}
public void Vert(){
CANDle.setLEDs(0,255, 0);
public void Vert1(){
CANDle.setLEDs(0, 255, 0,0,0,8);
CANDle.setLEDs(0, 255, 0,0,16,8);
CANDle.setLEDs(0, 255, 0,0,32,8);
CANDle.setLEDs(0, 255, 0,0,56,8);
CANDle.setLEDs(0, 255, 0,0,72,8);
CANDle.setLEDs(0, 255, 0,0,88,8);
CANDle.setLEDs(0, 255, 0,0,104,8);
CANDle.setLEDs(0, 255, 0,0,120,8);
CANDle.setLEDs(0, 255, 0,0,136,8);
}
public void Rouge(){
CANDle.setLEDs(255,0, 0);
CANDle.setLEDs(255, 0, 0,0,0,8);
CANDle.setLEDs(255, 0, 0,0,16,8);
CANDle.setLEDs(255, 0, 0,0,32,8);
CANDle.setLEDs(255, 0, 0,0,48,8);
CANDle.setLEDs(255, 0, 0,0,64,8);
CANDle.setLEDs(255, 0, 0,0,80,8);
CANDle.setLEDs(255, 0, 0,0,96,8);
CANDle.setLEDs(255, 0, 0,0,112,8);
CANDle.setLEDs(255, 0, 0,0,128,8);
}
public void Jaune2(){
CANDle.setLEDs(255, 255, 0,0,8,8);
CANDle.setLEDs(255, 255, 0,0,24,8);
CANDle.setLEDs(255, 255, 0,0,40,8);
CANDle.setLEDs(255, 255, 0,0,56,8);
CANDle.setLEDs(255, 255, 0,0,72,8);
CANDle.setLEDs(255, 255, 0,0,88,8);
CANDle.setLEDs(255, 255, 0,0,104,8);
CANDle.setLEDs(255, 255, 0,0,120,8);
CANDle.setLEDs(255, 255, 0,0,136,8);
}
public void Vert2(){
CANDle.setLEDs(0, 255, 0,0,8,8);
CANDle.setLEDs(0, 255, 0,0,24,8);
CANDle.setLEDs(0, 255, 0,0,40,8);
CANDle.setLEDs(0, 255, 0,0,56,8);
CANDle.setLEDs(0, 255, 0,0,72,8);
CANDle.setLEDs(0, 255, 0,0,88,8);
CANDle.setLEDs(0, 255, 0,0,104,8);
CANDle.setLEDs(0, 255, 0,0,120,8);
CANDle.setLEDs(0, 255, 0,0,136,8);
}
public void RainBow(){
CANDle.animate(rainbowAnim);
@@ -46,7 +93,7 @@ public class Led extends SubsystemBase {
public void periodic() {
double temps = DriverStation.getMatchTime();
if(temps > 20 && temps < 30){
Vert();
Vert1();
}
if(Equipe()){
if(temps > 30 && temps < 55){