Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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

@@ -4,12 +4,19 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 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;
+   NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur grimpeur bas").subscribe(-39.19);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur grimpeur haut ").subscribe(-38.5);
   /** Creates a new GrimpeurBas. */
   public GrimpeurBas(Grimpeur grimpeur) {
     this.grimpeur = grimpeur;
@@ -24,10 +31,12 @@ public class GrimpeurBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
+    double encodeurbas = encodeur1.get();
+    double encodeurhaut = encodeur2.get();
+    if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
       grimpeur.grimpe(0);
     }
-    else if(grimpeur.encodeur()>=-38.5){
+    else if(grimpeur.encodeur()>=encodeurhaut){
       grimpeur.grimpe(-0.5);
     }
    else{grimpeur.grimpe(0.5);

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

@@ -4,6 +4,11 @@
 
 package frc.robot.commands;
 
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystems.Elevateur;
@@ -13,6 +18,12 @@ import frc.robot.subsystems.Pince;
 public class L2 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur elevateur bas L2").subscribe(-1);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur elevateur haut L2").subscribe(-0.9);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L2").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L2").subscribe(-0.9);
   /** Creates a new L2. */
   public L2(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -28,10 +39,14 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-1 && elevateur.position()>=-0.9){
+    double encodeurbase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-1){
+    else if(elevateur.position()>=encodeurbase){
       elevateur.vitesse(-0.2);
     }
     else{

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

@@ -4,6 +4,9 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystems.Elevateur;
@@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
 public class L3 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+    NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur haut L3").subscribe(-2.9);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur bas L3").subscribe(-3);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L3").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L3").subscribe(-0.9);
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-2.9 && elevateur.position()>=-3){
+    double encodeurHaute = encodeur1.get();
+    double encodeurBase = encodeur2.get();
+    double encodeurbase = encodeur3.get();
+    double encodeurhaute = encodeur4.get();
+    if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-2.9){
+    else if(elevateur.position()>=-encodeurHaute){
       elevateur.vitesse(-0.2);
     }
     else{

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

@@ -4,6 +4,9 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystems.Elevateur;
@@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
 public class L4 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas L4").subscribe(-6.4);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut L4").subscribe(-6.5);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L4").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L4").subscribe(-0.9);
   /** Creates a new L2. */
   public L4(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-6.5 && elevateur.position()>=-6.4){
+    double encodeurBase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-6.5){
+    else if(elevateur.position()>=encodeurhaute){
       elevateur.vitesse(-0.2);
     }
     else{

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

@@ -4,6 +4,9 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -13,6 +16,12 @@ public class StationPince extends Command {
   
   private Pince pince;
   private Elevateur elevateur;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
   /** Creates a new L2Pince. */
   public StationPince(Pince pince,Elevateur elevateur) {
     this.elevateur = elevateur;
@@ -28,11 +37,15 @@ public class StationPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    double encodeurBase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
     pince.aspirecoral(0.5);
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
+    if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
       pince.pivote(0);
     }
-    else if(pince.encodeurpivot()>=910){
+    else if(pince.encodeurpivot()>=encodeurBase){
       pince.pivote(0.2);
     }
     else{