enlever truc inutil + toggle pour auto

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

@@ -5,33 +5,24 @@
 package frc.robot;
 
 import static edu.wpi.first.units.Units.*;
+
+import java.util.Map;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.util.FlippingUtil;
-
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
-import frc.robot.commands.AvancerAuto;
 import frc.robot.commands.RainBow;
 import frc.robot.commands.reset;
 import frc.robot.commands.Elevateur.Depart;
@@ -49,9 +40,6 @@ import frc.robot.commands.Pince.CorailAspir;
 import frc.robot.commands.Pince.CoralAlgueInspire;
 import frc.robot.commands.Pince.CoralExpire;
 import frc.robot.commands.Pince.PinceManuel;
-import frc.robot.commands.grimpeur.GrimperHaut;
-import frc.robot.commands.grimpeur.GrimpeurBas;
-import frc.robot.commands.grimpeur.GrimpeurManuelhaut;
 import frc.robot.commands.requin.BalayeuseAlgue;
 import frc.robot.commands.requin.BalayeuseCoral;
 import frc.robot.commands.requin.BalayeuseHaut;
@@ -60,7 +48,6 @@ import frc.robot.commands.requin.L1Requin;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
-import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
@@ -71,6 +58,9 @@ import frc.robot.commands.Elevateur.balonL2;
 import frc.robot.commands.Elevateur.balonL3;
 
 public class RobotContainer {
+  ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
+    .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
+  GenericEntry L1 = layoutauto.add("choix L1",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -98,22 +88,11 @@ public class RobotContainer {
   Limelight3G limelight3g = new Limelight3G();
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
-  Grimpeur Grimpeur = new Grimpeur();
   Requin requin = new Requin();
   CorailAspir corailAspir = new CorailAspir(pince, bougie);
   public RobotContainer() {
   CameraServer.startAutomaticCapture();
   configureBindings();
-  // NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-  // NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
-  // NamedCommands.registerCommand("L4", new L4(elevateur, pince));
-  // NamedCommands.registerCommand("L3", new L3(elevateur, pince));
-  // NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
-  // NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
-  // NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
-  // NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
-  //autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-  //SmartDashboard.putData("Auto Mode", autoChooser);
   }
 
   private void configureBindings() {
@@ -158,11 +137,6 @@ public class RobotContainer {
     //limelight
     manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
-   
-    //grimpeur
-    manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
-    manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
-    manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
     
      //Pince manuel
      pince.setDefaultCommand(new RunCommand(()->{
@@ -188,17 +162,8 @@ public class RobotContainer {
         drive.withVelocityX(0)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(0.1),
-        new L1Requin(requin, bougie).withTimeout(2),
+        new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
-        new ExpireCorail(requin, bougie).withTimeout(2),
+        new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
         new RainBow(bougie));
-      // return new SequentialCommandGroup(Commands.runOnce(()->{
-      //   boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-      //   if(flip){
-      //       drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-      //   }
-      //   else{
-      //       drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-      //   }
-      // }),autoChooser.getSelected(), new RainBow(bougie));
     }    
 }

src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java

@@ -1,56 +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.commands.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 GrimperHaut extends Command {
-  private Grimpeur grimpeur;
-  private Bougie bougie;
-  /** Creates a new Grimper. */
-  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
-    this.grimpeur = grimpeur;
-    this.bougie = bougie;
-    addRequirements(grimpeur,bougie);
-    // 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(grimpeur.stop()==true){
-      grimpeur.grimpe(0);
-      grimpeur.reset();
-      bougie.RainBow();
-    }
-    else{
-      grimpeur.grimpe(0.5);
-      bougie.RainBowStop();
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-   if(grimpeur.stop()){
-    bougie.RainBow();
-   }
-
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return grimpeur.stop()==true;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java

@@ -1,47 +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.commands.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
-/* 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 GrimpeurBas extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // 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(grimpeur.encodeur()>=-43.3 && grimpeur.encodeur()<=-42.5){
-      grimpeur.grimpe(0);
-    }
-    else if(grimpeur.encodeur()>=-43.3){
-      grimpeur.grimpe(-0.5);
-    }
-   else{grimpeur.grimpe(0.5);
-  } 
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java

@@ -1,59 +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.commands.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 GrimpeurManuelhaut extends Command {
-  private Grimpeur grimpeur;
-
-  private Bougie bougie;
-  /** Creates a new GrimpeurManuel. */
-  public GrimpeurManuelhaut(Grimpeur grimpeur,Bougie bougie) {
-    this.grimpeur = grimpeur;
-    
-    this.bougie = bougie;
-    addRequirements(grimpeur, bougie);
-    // 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(grimpeur.stop()){
-      bougie.RainBow();
-      grimpeur.grimpe(-0.5);
-    }
-    
-    else{
-      bougie.RainBowStop();
-    grimpeur.grimpe(-0.5);  
-    }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-    if(grimpeur.stop()){
-      bougie.RainBow();
-    }
-    else{bougie.RainBowStop();}
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java

@@ -1,39 +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.commands.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 ResetGrimpeur extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new ResetGrimpeur. */
-  public ResetGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // 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() {
-    grimpeur.reset();
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,40 +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.subsystems;
-
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Grimpeur extends SubsystemBase {
-  /** Creates a new Grimpeur. */
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  public Grimpeur() {
-    teb.addBoolean("limit grimpeur", this::stop);
-    teb.addDouble("encodeur grimpeur", this::encodeur);
-  }
-  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
-  final DigitalInput limit1 = new DigitalInput(2);
-  public void grimpe(double vitesse){
-    grimpeur.set(vitesse);
-  }
-  public boolean stop(){
-   return limit1.get();
-  }
-  public double encodeur(){
-  return grimpeur.getEncoder().getPosition();
-  }
-  public void reset(){
-     grimpeur.getEncoder().setPosition(135.11);
-    }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}