Bougie(pas fini)

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

@@ -4,14 +4,9 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.AlgueExpire;
@@ -27,12 +22,12 @@ import frc.robot.commands.L4;
 import frc.robot.commands.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
 public class RobotContainer {
   
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
- // private final SendableChooser<Command> autoChooser;
+  Bougie bougie = new Bougie();
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,21 +36,21 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
-   /*  NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+     NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
-    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
+    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
-    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
+    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
-    autoChooser = AutoBuilder.buildAutoChooser();*/
+
   }
 
   private void configureBindings() {
     // manette1
     manette1.a().whileTrue(new AlgueExpire(pince));
     manette1.b().whileTrue(new CoralAlgueInspire(pince));
-    manette1.x().whileTrue(new CoralInspire(pince));
+    manette1.x().whileTrue(new CoralInspire(pince,bougie));
-    manette1.y().whileTrue(new CoralExpire(pince));
+    manette1.y().whileTrue(new CoralExpire(pince,bougie));
     manette1.povUp().whileTrue(new L4(elevateur, pince));
     manette1.povRight().whileTrue(new L2(elevateur, pince));
     manette1.povLeft().whileTrue(new L3(elevateur, pince));
@@ -64,8 +59,8 @@ public class RobotContainer {
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
     manette2.a().whileTrue(new StationPince(pince,elevateur));
   }
-
+  
   public Command getAutonomousCommand() {
-    return null;// autoChooser.getSelected();
+    return Command()
   }
 }

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

@@ -6,14 +6,16 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
 /* 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 CoralExpire extends Command {
   private Pince pince;
+  Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public CoralExpire(Pince pince) {
+  public CoralExpire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,7 +26,12 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(pince.emperagecoral() > 8){
+      pince.aspirecoral(-.5);
+   }
+   else{
     pince.aspirecoral(-.5);
+    bougie.Rouge();}
   }
 
   // Called once the command ends or is interrupted.

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

@@ -6,14 +6,16 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
 /* 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 CoralInspire extends Command {
   private Pince pince;
+  Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public CoralInspire(Pince pince) {
+  public CoralInspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,6 +27,7 @@ public class CoralInspire extends Command {
   @Override
   public void execute() {
     if(pince.emperagecoral()>8){
+    bougie.Vert();
     pince.aspirecoral(0);  
     }
     else{

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

@@ -0,0 +1,37 @@
+// 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.subsystems;
+
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Bougie extends SubsystemBase {
+  CANdle candle = new CANdle(5);
+  CANdleConfiguration config = new CANdleConfiguration();
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  /** Creates a new Bougie. */
+  public Bougie() {
+    config.brightnessScalar = 0.5;
+    candle.configAllSettings(config);
+  }
+  public void Rouge() {
+   candle.setLEDs(255, 0, 0);
+  }
+  public void Vert() {
+   candle.setLEDs(0, 255, 0);
+  }
+  public void Bleu() {
+   candle.setLEDs(0, 0, 255);
+  }
+  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBowStop(){candle.animate(null);}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}