pince+elevateur

src/main/java/frc/robot/command/Depart.java

@@ -6,16 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+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 Depart extends Command {
   private Elevateur elevateur;
   private Pince pince;
   /** Creates a new L2. */
-  public Depart(Elevateur elevateur) {
+  public Depart(Elevateur elevateur, Pince pince) {
-
+    this.pince = pince;
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,12 +34,14 @@ public class Depart extends Command {
     else{
       elevateur.vitesse(-.5);
     }
-    if(pince.position()==true){
+    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
       pince.pivote(0);
-      pince.reset();
+    }
+    else if(pince.encodeurpivot()>=910){
+      pince.pivote(-0.5);
     }
     else{
-      pince.pivote(.5);
+      pince.pivote(0.5);
     }
   }
 
@@ -46,6 +49,7 @@ public class Depart extends Command {
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

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

@@ -6,14 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+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 L2 extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
-  public L2(Elevateur elevateur) {
+  public L2(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,13 +36,22 @@ public class L2 extends Command {
     else{
       elevateur.vitesse(.3);
     }
-
+    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=510){
+      pince.pivote(-0.3);
+    }
+    else{
+      pince.pivote(0.3);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L2Pince.java

@@ -1,49 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-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 L2Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L2Pince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.3);
-    }
-    else{
-      pince.pivote(0.3);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -6,14 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+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 L3 extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
-  public L3(Elevateur elevateur) {
+  public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,12 +36,22 @@ public class L3 extends Command {
     else{
       elevateur.vitesse(.5);
     }
+    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=710){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L3Pince.java

@@ -1,49 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-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 L3Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L3Pince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -6,14 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+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 L4 extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
-  public L4(Elevateur elevateur) {
+  public L4(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,12 +36,22 @@ public class L4 extends Command {
     else{
       elevateur.vitesse(.5);
     }
+    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=810){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L4Pince.java

@@ -1,49 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-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 L4Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L4Pince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}