sdesharnais/Rebuilt-2026
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Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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This commit is contained in:
Antoine PerreaultE
2026-04-01 18:23:51 -04:00
parent 07eeaffa32 8202b012cb
commit 9585c17bdb
2 changed files with 36 additions and 29 deletions
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12
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
View File

@@ -67,19 +67,21 @@ public class GrimperReservoir extends Command {
angle = angle + 360;
}
if(alliance.get() == Alliance.Red){
pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
System.out.println(pigeonAngle);
y = 6.959326;
x = 13.57966;
angle = 180;
if(pigeonAngle< 190 && pigeonAngle> 170){
drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5),-2,2)));
drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)));
}
else{
if(pigeonAngle>0 && pigeonAngle<180){
drivetrain.setControl(drive.withRotationalRate(1));
}
else if(pigeonAngle>180){
if(pigeonAngle>180){
drivetrain.setControl(drive.withRotationalRate(-1));
}
else{
drivetrain.setControl(drive.withRotationalRate(1));
}
}
}
else{

53
src/main/java/frc/robot/subsystems/LEDSubsystem.java
View File

@@ -19,6 +19,7 @@ import com.ctre.phoenix6.signals.RGBWColor;
* Subsystem that controls an addressable LED strip using a CANdle.
*/
public class LEDSubsystem extends SubsystemBase {
Timer _timer;
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private GenericEntry equipe =
teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
@@ -28,17 +29,18 @@ public class LEDSubsystem extends SubsystemBase {
m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(255, 0, 0, 0)));
}
public void Rouge(){
new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0));
m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0)));
}
public void Vert(){
new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0));
m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0)));
}
public void Noir(){
new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0));
m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
}
public void Flash(boolean couleur){
Timer timer = new Timer();
timer.reset();
timer.start();
if(timer.get() <0.5){
if(couleur){
@@ -55,6 +57,9 @@ public class LEDSubsystem extends SubsystemBase {
}
public LEDSubsystem() {
setDefaultCommand(updateLEDs());
_timer = new Timer();
_timer.reset();
_timer.start();
}
public boolean Equipe(){
return equipe.getBoolean(false);
@@ -65,69 +70,69 @@ public class LEDSubsystem extends SubsystemBase {
* @return Command to run
*/
public Command updateLEDs() {
double temps = DriverStation.getMatchTime();
return run(() -> {
if(Equipe()){
if(temps < 30){
if(_timer.get() < 30){
Vert();
}
else if(temps < 52){
else if(_timer.get() < 52){
Bleu();
}
else if(temps < 55){
else if(_timer.get() < 55){
Flash(true);
}
else if(temps < 77){
else if(_timer.get() < 77){
Rouge();
}
else if(temps < 80){
else if(_timer.get() < 80){
Flash(false);
}
else if(temps < 102){
else if(_timer.get() < 102){
Bleu();
}
else if(temps < 105){
else if(_timer.get() < 105){
Flash(true);
}
else if(temps <127){
else if(_timer.get() <127){
Rouge();
}
else if(temps < 130){
else if(_timer.get() < 130){
Flash(false);
}
else if(temps < 140){
else if(_timer.get() < 140){
Vert();
}
}
else{
if(temps < 30){
if(_timer.get() < 30){
Vert();
}
else if(temps < 52){
else if(_timer.get() < 52){
Rouge();
}
else if(temps < 55){
else if(_timer.get() < 55){
Flash(false);
}
else if(temps < 77){
else if(_timer.get() < 77){
Bleu();
}
else if(temps < 80){
else if(_timer.get() < 80){
Flash(true);
}
else if(temps < 102){
else if(_timer.get() < 102){
Rouge();
}
else if(temps < 105){
else if(_timer.get() < 105){
Flash(false);
}
else if(temps <127){
else if(_timer.get() <127){
Bleu();
}
else if(temps < 130){
else if(_timer.get() < 130){
Flash(true);
}
else if(temps < 140){
else if(_timer.get() < 140){
Vert();
}
}