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

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

@@ -44,9 +44,7 @@ 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.grimpeur.ResetGrimpeur;
 import frc.robot.commands.requin.BalayeuseAlgue;
-import frc.robot.commands.requin.BalayeuseBas;
 import frc.robot.commands.requin.BalayeuseCoral;
 import frc.robot.commands.requin.BalayeuseHaut;
 import frc.robot.commands.requin.ExpireCorail;
@@ -60,13 +58,16 @@ import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
 import frc.robot.subsystems.Requin;
 import frc.robot.commands.requin.exspire;
+import frc.robot.commands.Pince.DepartPince;
+import frc.robot.commands.Elevateur.balonL2;
+import frc.robot.commands.Elevateur.balonL3;
 
 public class RobotContainer {
   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
 
   /* Setting up bindings for necessary control of the swerve drive platform */
-  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+  private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
     .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
     .withDriveRequestType(DriveRequestType.OpenLoopVoltage
     ); // Use open-loop control for drive motors
@@ -108,34 +109,31 @@ public class RobotContainer {
   private void configureBindings() {
     drivetrain.registerTelemetry(logger::telemeterize);
  drivetrain.setDefaultCommand(
-          // Drivetrain will execute this command periodically
+      // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
-              .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
-              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
+            drive.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*-manette1.getLeftX()*-manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
+              .withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*-manette1.getLeftY()*-manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*-manette1.getRightX()*-manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
         )
       );
-   
-     
             /* Manette 1 */
-    // reset the field-centric heading on start press
-    manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
-
     //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur,bougie));
-    manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+    manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
     manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
-     //elevateur
-     manette1.a().whileTrue(new Depart(elevateur, pince));
-     manette1.b().whileTrue(new L2(elevateur,pince));
-     manette1.x().whileTrue(new L3(elevateur, pince));
-     manette1.y().whileTrue(new L4(elevateur, pince));
+    manette1.leftTrigger().whileTrue(new DepartPince(pince));
+    manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
+    //elevateur
+    manette1.a().whileTrue(new Depart(elevateur, pince));
+    manette1.b().whileTrue(new L2(elevateur,pince));
+    manette1.x().whileTrue(new L3(elevateur, pince));
+    manette1.y().whileTrue(new L4(elevateur, pince));
+    manette1.povUp().whileTrue(new balonL2(elevateur));
+    manette1.start().whileTrue(new balonL3(elevateur));
 
             /* Manette 2 */
-    manette2.a().whileTrue(new CorailAspir(pince,bougie));
-    manette2.b().whileTrue(new Algue_inspire(pince,bougie));
     //requin
     manette2.rightBumper().whileTrue(new BalayeuseAlgue(requin,bougie));
     manette2.leftBumper().whileTrue(new L1Requin(requin, bougie));
@@ -143,15 +141,18 @@ public class RobotContainer {
     manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new exspire(requin, bougie));
     manette2.x().whileTrue(new ExpireCorail(requin, bougie));
-   
+
+    //limelight
+    manette2.a().whileTrue(new Forme3(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(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
+      pince.pivote(MathUtil.applyDeadband((manette2.getRightY()*manette2.getRightY()*manette2.getRightY())/3, 0.05));
     }, pince));
 
     //Elevateur manuel
@@ -159,8 +160,6 @@ public class RobotContainer {
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
 
-    //limelight
-     manette2.povUp().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     //Reset encodeur
     manette2.start().whileTrue(new reset(elevateur, pince));
   }

src/main/java/frc/robot/commands/Elevateur/Depart.java

@@ -11,10 +11,12 @@ 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, Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur, pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,20 +27,27 @@ public class Depart extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(pince.position()){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-0.2);
+    }
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
       elevateur.reset();
     }
     else{
-      elevateur.vitesse(.3);
+      elevateur.vitesse(.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/commands/Elevateur/L2.java

@@ -26,11 +26,11 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
+     if(pince.encodeurpivot()>=16 && pince.encodeurpivot()<=17){
        pince.pivote(0);
      
      }
-     else if(pince.encodeurpivot()>=16){
+     else if(pince.encodeurpivot()>=17){
        pince.pivote(-0.1);
      }
      else{

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

@@ -30,22 +30,23 @@ public class L3 extends Command {
   public void execute() {
     if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
       elevateur.vitesse(0);
-    }
+        pince.pivote(-0.15);
+        if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
+          pince.pivote(0);
+        }
+        else if(pince.encodeurpivot()>=20){
+          pince.pivote(-0.15);
+        }
+        else{
+          pince.pivote(0.15);
+        }
+  }
     else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(-0.7);
     }
     else{
-      elevateur.vitesse(0.5);
+      elevateur.vitesse(0.25);
     }
-     if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
-       pince.pivote(0);
-     }
-     else if(pince.encodeurpivot()>=16){
-       pince.pivote(-0.1);
-     }
-     else{
-       pince.pivote(0.1);
-     }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -28,24 +28,24 @@ public class L4 extends Command {
   @Override
   public void execute() {
     if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
-      elevateur.vitesse(0);
-      
+      elevateur.vitesse(0); 
+      pince.pivote(-0.1);
+      if(pince.encodeurpivot()>=22 && pince.encodeurpivot()<=23){
+        pince.pivote(0);
+      }
+      else if(pince.encodeurpivot()>=22){
+        pince.pivote(-0.15);
+      }
+      else{
+        pince.pivote(0.15);
+      }
     }
     else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(-0.7);
     }
     else{
-      elevateur.vitesse(.5);
+      elevateur.vitesse(.25);
     }
-     if(pince.encodeurpivot()>=21.76 && pince.encodeurpivot()<=22.3){
-       pince.pivote(0);
-     }
-     else if(pince.encodeurpivot()>=22.3){
-       pince.pivote(-0.1);
-     }
-     else{
-       pince.pivote(0.1);
-     }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -28,26 +28,37 @@ public class StationPince extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 60){
-      pince.aspirecoral(0);bougie.Bleu();
-    }
-    else{
-      pince.aspirecoral(0.5);
-    }
     
-    if(pince.encodeurpivot()<=9.8 && pince.encodeurpivot()>=12){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=9.8){
-      pince.pivote(-0.1);
+    if(pince.emperagecoral() >= 12){     
+      pince.x = true;
     }
+    if(pince.x){
+      pince.aspirecoral(0);
+      bougie.Bleu();
+      pince.pivote(-0.2);
+      if(pince.position()){
+        pince.pivote(0);
+      }
+     }
     else{
-      pince.pivote(0.1);
+      pince.aspirecoral(0.1);
+    }
+    if (!pince.x){
+      if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
+        pince.pivote(0);
+      }
+      else if(pince.encodeurpivot()>=11){
+        pince.pivote(-0.1);
+      }
+      else{
+        pince.pivote(0.1);
+      }
     }
   }
 
@@ -56,6 +67,7 @@ public class StationPince extends Command {
   public void end(boolean interrupted) {
     pince.pivote(0);
     pince.aspirecoral(0);
+    pince.x =false;
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Elevateur/balonL2.java

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.Elevateur;
+/* 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 balonL2 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public balonL2(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.position()<=-2 && elevateur.position()>=-2.2){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>= -1.95){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(0.25);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Elevateur/balonL3.java

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.Elevateur;
+/* 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 balonL3 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public balonL3(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.position()<=-4 && elevateur.position()>=-4.1){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>= -4){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(0.25);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Limelight/AprilTag3G.java

@@ -49,8 +49,8 @@ public class AprilTag3G extends Command {
     if(limelight3g.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(-a/7).
-      withVelocityX(x.getAsDouble()).
-      withVelocityY(y.getAsDouble()));  
+      withVelocityY(x.getAsDouble()).
+      withVelocityX(-y.getAsDouble()));  
        System.out.println(a/7);
     }
     else{
@@ -73,6 +73,6 @@ public class AprilTag3G extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return limelight3g.getX()<1 && limelight3g.getX()>-1;
+    return false;
   }
 }

src/main/java/frc/robot/commands/Pince/Algue_inspire.java

@@ -37,7 +37,6 @@ public class Algue_inspire extends Command {
     }
     else{
       pince.aspirealgue(0.5);
-      
     }
   }
 

src/main/java/frc/robot/commands/Pince/DepartPince.java

@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(.2);
+      pince.pivote(-0.2);
     }
   }
 

src/main/java/frc/robot/commands/requin/BalayeuseBas.java

@@ -24,7 +24,7 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  requin.rotationer(0.5);
+  requin.rotationer(0.2);
   }
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/requin/BalayeuseCoral.java

@@ -29,28 +29,26 @@ public class BalayeuseCoral extends Command {
   public void execute() {
      if(requin.encodeur()<=1200 &&  requin.encodeur()>=1025){
        requin.rotationer(0);
-      if(requin.amp()>60){
-      requin.balaye(0);
-       bougie.Vert();
-       if(requin.enHaut()){
-        requin.rotationer(0);
-       }
-        else{
-          requin.rotationer(-0.5);
-        }
-    }
-     else{
+      if(requin.amp()>=12){
+        requin.xRequin = true;
+      }
+      if(requin.xRequin){
+        requin.balaye(0);
+        bougie.Vert();
+      }
+      else{
        requin.balaye(0.5);
-     }
-     }
-     else if(requin.encodeur()>=1200){
-     requin.rotationer(-0.5);
-     }
-     else{
-       requin.rotationer(0.5);
-     }
-    
-  }
+      }
+      }
+      if (!requin.xRequin) {
+        if(requin.encodeur()>=1200){
+          requin.rotationer(-0.5);
+          }
+          else{
+            requin.rotationer(0.5);
+          }
+      }
+    }
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/requin/exspire.java

@@ -29,7 +29,14 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-   requin.balaye(0.5);
+   if(requin.amp()> 15)
+   {
+    requin.balaye(0.5);
+   }
+   else{
+    bougie.Rouge();
+    requin.balaye(0.5);
+   }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -18,13 +18,13 @@ public class Elevateur extends SubsystemBase {
     private GenericEntry encodeurelevateurL2haut =
     teb.add("encodeurelevateurL2haut", -0.9).getEntry();
     private GenericEntry encodeurelevateurL3bas =
-    teb.add("encodeurelevateurL3bas", -1.9).getEntry();
+    teb.add("encodeurelevateurL3bas", -3).getEntry();
     private GenericEntry encodeurelevateurL3haut =
-    teb.add("encodeurelevateurL3haut", -2.11).getEntry();
+    teb.add("encodeurelevateurL3haut", -3.1).getEntry();
     private GenericEntry encodeurelevateurL4bas =
-    teb.add("encodeurelevateurL4bas", -6.6).getEntry();
+    teb.add("encodeurelevateurL4bas", -6.3).getEntry();
     private GenericEntry encodeurelevateurL4haut =
-    teb.add("encodeurelevateurL4haut", -6.2).getEntry();
+    teb.add("encodeurelevateurL4haut", -6.5).getEntry();
     private GenericEntry encodeurelevateurstationbas =
     teb.add("encodeurelevateursationbas", -0.5).getEntry();
     private GenericEntry encodeurelevateurstationhaut =
@@ -67,16 +67,16 @@ public class Elevateur extends SubsystemBase {
     return encodeurelevateurL2haut.getDouble(-0.9);
   }
   public double encodeurelevateurL3bas(){
-    return encodeurelevateurL3bas.getDouble(-1.9);
+    return encodeurelevateurL3bas.getDouble(-2.8);
   }
   public double encodeurelevateurL3haut(){
-    return encodeurelevateurL3haut.getDouble(-2.11);
+    return encodeurelevateurL3haut.getDouble(-3);
   }
   public double encodeurelevateurL4bas(){
-    return encodeurelevateurL4bas.getDouble(-6.6);
+    return encodeurelevateurL4bas.getDouble(-6.3);
   }
   public double encodeurelevateurL4haut(){
-    return encodeurelevateurL4haut.getDouble(-6.2);
+    return encodeurelevateurL4haut.getDouble(-6.5);
   }
   public double encodeurelevateurstationbas(){
     return encodeurelevateurstationbas.getDouble(-0.5);

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

@@ -62,6 +62,7 @@ public double emperagecoral(){
 public double emperagealgue(){
   return algue1.getOutputCurrent();
 }
+public boolean x = false;
 
   @Override
   public void periodic() {

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

@@ -43,6 +43,7 @@ public class Requin extends SubsystemBase {
   public double amp(){
     return balaye.getOutputCurrent();
   }
+  public boolean xRequin = false;
   @Override
   public void periodic() {
     // This method will be called once per scheduler run