touche

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

@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.AlgueExpire;
 import frc.robot.commands.CoralAlgueInspire;
 import frc.robot.commands.CoralExpire;
-import frc.robot.commands.CoralInspire;
 import frc.robot.commands.Depart;
 import frc.robot.commands.DepartPince;
 import frc.robot.commands.ElevateurManuel;
@@ -46,24 +45,22 @@ public class RobotContainer {
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
-    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
 
   }
 
   private void configureBindings() {
     // manette1
-    manette1.a().whileTrue(new AlgueExpire(pince,bougie));
-    manette1.b().whileTrue(new CoralAlgueInspire(pince,bougie));
-    manette1.x().whileTrue(new CoralInspire(pince,bougie));
-    manette1.y().whileTrue(new CoralExpire(pince,bougie));
-    manette1.povUp().whileTrue(new L4(elevateur, pince));
-    manette1.povRight().whileTrue(new L2(elevateur, pince));
-    manette1.povLeft().whileTrue(new L3(elevateur, pince));
-    manette1.povDown().whileTrue(new Depart(elevateur, pince));
+    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 CoralExpire(pince, bougie));
+    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
+    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
-    manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
-    manette2.a().whileTrue(new StationPince(pince,elevateur));
+    manette2.leftTrigger().toggleOnTrue(new AlgueExpire(pince, bougie));
+    
   }
   
   public Command getAutonomousCommand() {

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

@@ -1,49 +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;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
-import frc.robot.subsystems.Bougie;
-/* 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 CoralInspire extends Command {
-  private Pince pince;
-  Bougie bougie;
-  /** Creates a new CoralAlgue. */
-  public CoralInspire(Pince pince, Bougie bougie) {
-    this.pince = pince;
-    this.bougie = bougie;
-    addRequirements(pince,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(pince.emperagecoral()>8){
-    pince.aspirecoral(0);  
-    }
-    else{
-      pince.aspirecoral(.5);
-      bougie.Bleu();
-    }
-  }
-
-  // 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/StationPince.java

@@ -28,6 +28,7 @@ public class StationPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    pince.aspirecoral(0.5);
     if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
       pince.pivote(0);
     }
@@ -52,6 +53,7 @@ public class StationPince extends Command {
   @Override
   public void end(boolean interrupted) {
     pince.pivote(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.