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

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
@@ -11,12 +11,10 @@ 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.pince = pince;
     this.elevateur = elevateur;
-    addRequirements(elevateur,pince);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -41,12 +39,11 @@ public class Depart extends Command {
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
-    pince.pivote(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.limit2()==true;
+    return elevateur.limit2() == true;
   }
 }

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Elevateur;
 
 import java.util.function.DoubleSupplier;
 
@@ -28,7 +28,10 @@ public class ElevateurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (elevateur.limit2())
+    if (elevateur.limit2()){
+
+     
+    }
     elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }
 

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

@@ -2,8 +2,7 @@
 // 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;
-
+package frc.robot.commands.Elevateur;
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
@@ -39,8 +39,8 @@ public class L3 extends Command {
   public void execute() {
     double encodeurHaute = encodeur1.get();
     double encodeurBase = encodeur2.get();
-    double encodeurbase = encodeur3.get();
-    double encodeurhaute = encodeur4.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
     if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
       elevateur.vitesse(0);
     }

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.DoubleTopic;

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;

src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.grimpeur;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;

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

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.grimpeur;
 
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;

src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.grimpeur;
 
 import java.util.function.DoubleSupplier;
 

src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.grimpeur;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Grimpeur;

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

@@ -0,0 +1,63 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseAlgue extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie =bougie;
+    addRequirements(requin,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(requin.encodeur()>=500 &&  requin.encodeur()<=510)
+     {
+       requin.rotationer(0);
+       if(requin.amp()> 60){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+      else
+      {
+           requin.balaye(0.5);
+      }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
+     }
+     else{
+      requin.rotationer(-0.5);
+     }
+    
+   }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,40 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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() {
+  requin.rotationer(-0.5);
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,67 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseCoral extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>60){
+      requin.balaye(0);
+       bougie.Vert();
+       if(requin.enHaut()){
+        requin.rotationer(0);
+       }
+        else{
+          requin.rotationer(0.5);
+        }
+    }
+     else{
+       requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=110){
+     requin.rotationer(0.5);
+     }
+     else{
+       requin.rotationer(-0.5);
+     }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -2,22 +2,18 @@
 // 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;
+package frc.robot.commands.requin;
+
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* 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);
+public class BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -28,15 +24,19 @@ public class PinceManuel2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
-      pince.pivote(-0.2);
-
+    if(requin.enHaut()==true){
+      requin.rotationer(0);
+      requin.reset();
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/requin/ExpireAlgue.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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 ExpireAlgue extends Command {
+  private Requin requin;
+  /** Creates a new ExpireAlgue. */
+  public ExpireAlgue(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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() {
+    requin.balaye(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/requin/L1Requin.java

@@ -0,0 +1,65 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* 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 L1Requin extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public L1Requin(Requin requin,Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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(requin.encodeur()>=800 &&  requin.encodeur()<=810){
+      requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(-0.5);
+    }
+        else{
+          requin.balaye(0); 
+          bougie.Rouge();
+      }
+    }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    
+    
+      
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -2,19 +2,19 @@
 // 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.Pince;
+package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* 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);
+public class aspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public aspire(Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +24,13 @@ public class Algue1Test extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.algue1Test(0.2);
+    requin.balaye(0.3);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.algue1Test(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -2,19 +2,19 @@
 // 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.Pince;
+package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* 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);
+public class exspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public exspire(Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +24,13 @@ public class Algue2Test extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.algue2Test(0.2);
+    requin.balaye(-0.3);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.algue2Test(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/requin/requin_manuel.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.requin;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 requin_manuel extends Command {
+  /** Creates a new requin_manuel. */
+  private Requin requin;
+  private DoubleSupplier x;
+  public requin_manuel(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // 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(requin.enHaut()){
+    requin.rotationer(0);  
+    }
+    else{
+      requin.rotationer(x.getAsDouble());
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}