leds pince

src/main/java/frc/robot/RobotContainer.java

@@ -42,14 +42,14 @@ public class RobotContainer {
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
     NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
-    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
+    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
 
   }
 
   private void configureBindings() {
     // manette1
-    manette1.a().whileTrue(new AlgueExpire(pince));
+    manette1.a().whileTrue(new AlgueExpire(pince,bougie));
-    manette1.b().whileTrue(new CoralAlgueInspire(pince));
+    manette1.b().whileTrue(new CoralAlgueInspire(pince,bougie));
     manette1.x().whileTrue(new CoralInspire(pince,bougie));
     manette1.y().whileTrue(new CoralExpire(pince,bougie));
     manette1.povUp().whileTrue(new L4(elevateur, pince));

src/main/java/frc/robot/commands/AlgueExpire.java

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Pince;
 
 /* 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 AlgueExpire extends Command {
   private Pince pince;
+  private Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public AlgueExpire(Pince pince) {
+  public AlgueExpire(Pince pince,Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,7 +27,14 @@ public class AlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirealgue(0.5);
+    if(pince.emperagealgue()>8){
+      pince.aspirealgue(0.5);
+    }
+    else{
+      pince.aspirealgue(0.5);
+      bougie.Jaune();
+    }
+    
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/CoralAlgueInspire.java

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Pince;
 
 /* 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 CoralAlgueInspire extends Command {
   private Pince pince;
+  private Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public CoralAlgueInspire(Pince pince) {
+  public CoralAlgueInspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,6 +30,7 @@ public class CoralAlgueInspire extends Command {
     pince.aspirecoral(-.5);
     if(pince.emperagealgue()>8){
       pince.aspirealgue(0);
+      bougie.Bleu();
      } 
      else{
       pince.aspirealgue(0.5);

src/main/java/frc/robot/commands/CoralExpire.java

@@ -31,7 +31,7 @@ public class CoralExpire extends Command {
    }
    else{
     pince.aspirecoral(-.5);
-    bougie.Rouge();}
+    bougie.Jaune();}
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/CoralInspire.java

@@ -27,7 +27,6 @@ public class CoralInspire extends Command {
   @Override
   public void execute() {
     if(pince.emperagecoral()>8){
-    bougie.Vert();
     pince.aspirecoral(0);  
     }
     else{

src/main/java/frc/robot/commands/L2.java

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -38,6 +39,7 @@ public class L2 extends Command {
     }
     if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
       pince.pivote(0);
+     
     }
     else if(pince.encodeurpivot()>=510){
       pince.pivote(-0.3);
@@ -45,6 +47,7 @@ public class L2 extends Command {
     else{
       pince.pivote(0.3);
     }
+
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/L3.java

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -15,7 +16,7 @@ public class L3 extends Command {
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    this.pince = pince;
+    this.pince = pince;  
     addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }

src/main/java/frc/robot/commands/L4.java

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 

src/main/java/frc/robot/subsystems/Bougie.java

@@ -20,14 +20,29 @@ public class Bougie extends SubsystemBase {
     candle.configAllSettings(config);
   }
   public void Rouge() {
-   candle.setLEDs(255, 0, 0);
+   candle.setLEDs(255, 0, 0,0,8,8);
+   candle.setLEDs(255, 0, 0,0,24,8);
+   candle.setLEDs(255, 0, 0,0,40,8);
+   candle.setLEDs(255, 0, 0,0,56,8);
   }
   public void Vert() {
-   candle.setLEDs(0, 255, 0);
+   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);
   }
   public void Bleu() {
-   candle.setLEDs(0, 0, 255);
+    candle.setLEDs(0, 0, 255,0,16,8);
+    candle.setLEDs(0, 0, 255,0,32,8);
+    candle.setLEDs(0, 0, 255,0,48,8);
+    candle.setLEDs(0, 0, 255,0,64,8);
   }
+   public void Jaune() {
+   candle.setLEDs(255, 215, 0,0,16,8);
+   candle.setLEDs(255, 215, 0,0,32,8);
+   candle.setLEDs(255, 215, 0,0,48,8);
+   candle.setLEDs(255, 215, 0,0,64,8);
+   }
   public void RainBow(){candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override