pince

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

@@ -20,6 +20,7 @@ import frc.robot.commands.L2;
 import frc.robot.commands.L3;
 import frc.robot.commands.L4;
 import frc.robot.commands.PinceManuel;
+import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -32,14 +33,15 @@ public class RobotContainer {
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
-  PinceManuel pinceManuel = new PinceManuel(pince, manette2::getRightY);
+  PinceManuel pinceManuel = new PinceManuel(pince);
+  PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
     }, pince));
      NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
@@ -59,8 +61,9 @@ public class RobotContainer {
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
-    manette2.leftTrigger().toggleOnTrue(new AlgueExpire(pince, bougie));
-    
+    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+    manette2.povUp().whileTrue(new PinceManuel(pince));
+    manette2.povDown().whileTrue(new PinceManuel2(pince));
   }
   
   public Command getAutonomousCommand() {

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

@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(.5);
+      pince.pivote(.2);
     }
   }
 

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

@@ -42,10 +42,10 @@ public class L2 extends Command {
      
     }
     else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.3);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.3);
+      pince.pivote(0.2);
     }
 
   }

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

@@ -41,10 +41,10 @@ public class L3 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
   }
 

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

@@ -41,10 +41,10 @@ public class L4 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
   }
 

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

@@ -14,9 +14,11 @@ public class PinceManuel extends Command {
   private Pince pince;
   private DoubleSupplier doubleSupplier;
   /** Creates a new PinceManuel. */
-  public PinceManuel(Pince pince, DoubleSupplier doubleSupplier) {
+  public PinceManuel(Pince pince
+  //, DoubleSupplier doubleSupplier
+  ) {
     this.pince = pince;
-    this.doubleSupplier = doubleSupplier;
+    //this.doubleSupplier = doubleSupplier;
     addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -32,7 +34,7 @@ public class PinceManuel extends Command {
       pince.pivote(0);
     }
     else{
-      pince.pivote(doubleSupplier.getAsDouble());
+      pince.pivote(0.2);
     }
   }
 

src/main/java/frc/robot/commands/PinceManuel2.java

@@ -0,0 +1,48 @@
+// 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;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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 PinceManuel2 extends Command {
+  private Pince pince;
+  //private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel2(Pince pince
+   
+  //,DoubleSupplier doubleSupplier
+  ) {
+    this.pince = pince;
+   // this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
+    // 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() {
+
+      pince.pivote(-0.2);
+
+  }
+
+  // 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/commands/StationPince.java

@@ -33,10 +33,10 @@ public class StationPince extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
     if(elevateur.position()>=400 && elevateur.position()<=410){
       elevateur.vitesse(0);

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

@@ -11,7 +11,7 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 public class Elevateur extends SubsystemBase {
   /** Creates a new Elevateur. */
   public Elevateur() {}
-  final SparkMax  monte = new SparkMax(3, MotorType.kBrushless);
+  final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(1);
   public double position(){
     return monte.getEncoder().getPosition();

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

@@ -17,7 +17,7 @@ public class Pince extends SubsystemBase {
   final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
   final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
   final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(2);
+  final DigitalInput limit6 = new DigitalInput(0);
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }