leds baleeuse et saaaaaaaaaaam

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

@@ -12,19 +12,20 @@ import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
 import frc.robot.subsystems.Requin;
-
+import frc.robot.subsystems.Bougie;
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
   Requin requin = new Requin();
+  Bougie bougie = new Bougie();
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
-    manette2.b().whileTrue(new BalayeuseAlgue(requin));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin,bougie));
-    manette2.x().whileTrue(new BalayeuseCoral(requin));
+    manette2.x().whileTrue(new BalayeuseCoral(requin,bougie));
-    manette2.y().whileTrue(new L1Requin(requin));
+    manette2.y().whileTrue(new L1Requin(requin,bougie));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 

src/main/java/frc/robot/commands/BalayeuseAlgue.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.Requin;
 
 /* 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 BalayeuseAlgue extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseAlgue(Requin requin) {
+  public BalayeuseAlgue(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie =bougie;
+    addRequirements(requin, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class BalayeuseAlgue extends Command {
   public void execute() {
     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+    else{
+      requin.balaye(0.5);
+    }
     }
     else if(requin.encodeur()>=510){
     requin.rotationer(0.5);
@@ -33,12 +43,7 @@ public class BalayeuseAlgue extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
+    
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/BalayeuseCoral.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.Requin;
 
 /* 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 BalayeuseCoral extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseCoral(Requin requin) {
+  public BalayeuseCoral(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class BalayeuseCoral extends Command {
   public void execute() {
     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+    else{
+      requin.balaye(0.5);
+    }
     }
     else if(requin.encodeur()>=110){
     requin.rotationer(0.5);
@@ -33,12 +43,7 @@ public class BalayeuseCoral extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
+    
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/L1Requin.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.Requin;
 
 /* 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 L1Requin extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public L1Requin(Requin requin) {
+  public L1Requin(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class L1Requin extends Command {
   public void execute() {
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(-0.5);
+    }
+    else{
+      requin.balaye(-0.5); 
+      bougie.Rouge();
+    }
     }
     else if(requin.encodeur()>=810){
     requin.rotationer(0.5);
@@ -33,12 +43,10 @@ public class L1Requin extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
+    
-      requin.balaye(0);
+    
-    }
+      
-    else{
+    
-      requin.balaye(0.5);
-    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -0,0 +1,52 @@
+// 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, 0,0,8,8);
+   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, 0,0,8,8);
+   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, 255,0,16,8);
+    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
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}