pince mieux

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

@@ -10,7 +10,11 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.Algue1Test;
+import frc.robot.commands.Algue2Test;
 import frc.robot.commands.AlgueExpire;
+import frc.robot.commands.CorailAspir;
+import frc.robot.commands.CorailTest;
 import frc.robot.commands.CoralAlgueInspire;
 import frc.robot.commands.CoralExpire;
 import frc.robot.commands.Depart;
@@ -38,7 +42,7 @@ public class RobotContainer {
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+      elevateur.vitesse(MathUtil.applyDeadband(-manette2.getLeftY(), 0.2));
     }, elevateur));
     pince.setDefaultCommand(new RunCommand(()->{
       pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
@@ -57,13 +61,17 @@ public class RobotContainer {
     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 CoralExpire(pince, bougie));
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
     manette2.povUp().whileTrue(new PinceManuel(pince));
     manette2.povDown().whileTrue(new PinceManuel2(pince));
+    manette2.a().whileTrue(new CorailAspir(pince));
+    manette2.b().whileTrue(new CoralExpire(pince, bougie));
+    manette2.povLeft().whileTrue(new Algue1Test(pince));
+    manette2.povRight().whileTrue(new Algue2Test(pince));
+    manette2.x().whileTrue(new CorailTest(pince));
   }
   
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/Algue1Test.java

@@ -0,0 +1,41 @@
+// 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 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 Algue1Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue1Test(Pince pince) {
+    this.pince = pince;
+    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.algue1Test(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.algue1Test(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Algue2Test.java

@@ -0,0 +1,41 @@
+// 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 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 Algue2Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue2Test(Pince pince) {
+    this.pince = pince;
+    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.algue2Test(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.algue2Test(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,42 @@
+// 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 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 CorailAspir extends Command {
+  /** Creates a new CorailAspir. */
+  private Pince pince;
+  public CorailAspir(Pince pince) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.pince = pince;
+    addRequirements(pince);
+  }
+
+  // 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.aspirecoral(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,41 @@
+// 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 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 CorailTest extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public CorailTest(Pince pince) {
+    this.pince = pince;
+    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.aspirecoral(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -31,7 +31,7 @@ public class ElevateurManuel extends Command {
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
     }
-    elevateur.vitesse(doubleSupplier.getAsDouble());
+    elevateur.vitesse(doubleSupplier.getAsDouble()/5);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -3,16 +3,12 @@
 // 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 PinceManuel extends Command {
   private Pince pince;
-  private DoubleSupplier doubleSupplier;
   /** Creates a new PinceManuel. */
   public PinceManuel(Pince pince
   //, DoubleSupplier doubleSupplier
@@ -30,17 +26,19 @@ public class PinceManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.position()){
-      pince.pivote(0);
-    }
-    else{
+    // if(pince.position()){
+    //   pince.pivote(0);
+    // }
+    // else{
       pince.pivote(0.2);
-    }
+    // }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -3,9 +3,6 @@
 // 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;
 
@@ -38,7 +35,9 @@ public class PinceManuel2 extends Command {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -33,19 +33,19 @@ public class StationPince extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
     if(elevateur.position()>=400 && elevateur.position()<=410){
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=410){
-      elevateur.vitesse(-0.3);
+      elevateur.vitesse(0.3);
     }
     else{
-      elevateur.vitesse(.3);
+      elevateur.vitesse(-.3);
     }
   }
 

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

@@ -42,6 +42,12 @@ public double emperagecoral(){
 }
 public double emperagealgue(){
   return algue1.getOutputCurrent();
+}
+public void algue1Test(double vitesse){
+  algue1.set(vitesse);
+}
+public void algue2Test(double vitesse){
+  algue2.set(vitesse);
 }
   @Override
   public void periodic() {