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

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

@@ -115,6 +115,7 @@ public class RobotContainer {
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
+    manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
 
      //elevateur
      manette1.a().whileTrue(new Depart(elevateur, pince));
@@ -123,12 +124,12 @@ public class RobotContainer {
      manette1.y().whileTrue(new L4(elevateur, pince));
 
             /* Manette 2 */
-    //pince
-    manette2.a().whileTrue(new CorailAspir(pince));
-    manette2.b().whileTrue(new Algue_inspire(pince));
+    //requin
+    manette2.a().whileTrue(new CorailAspir(pince,bougie));
+    manette2.b().whileTrue(new Algue_inspire(pince,bougie));
     manette2.y().whileTrue(new BalayeuseHaut(requin));
     manette2.x().whileTrue(new BalayeuseBas(requin));
-    manette2.rightTrigger().whileTrue(new exspire(requin));
+    manette2.rightTrigger().whileTrue(new exspire(requin,bougie));
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
 
      //Pince manuel

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

@@ -5,15 +5,18 @@
 package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 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 Algue_inspire extends Command {
   /** Creates a new Algue_inspire. */
   private Pince pince;
-  public Algue_inspire(Pince pince) {
+  private Bougie bougie;
+  public Algue_inspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,7 +30,15 @@ public class Algue_inspire extends Command {
   //ajouter l'amperage pour arreter les moteurs
   @Override
   public void execute() {
-    pince.aspirealgue(0.5);
+    
+    if(pince.emperagealgue()>60){
+      pince.aspirealgue(0);
+      bougie.Bleu();
+    }
+    else{
+      pince.aspirealgue(0.5);
+      
+    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,16 +5,19 @@
 package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 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) {
+  Bougie bougie;
+  public CorailAspir(Pince pince, Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -24,7 +27,10 @@ public class CorailAspir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
+    if(pince.emperagecoral() > 60){
+      pince.aspirecoral(0);
+      bougie.Bleu();
+    }
     pince.aspirecoral(0.5);
   }
 

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

@@ -1,41 +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.Pince;
-
-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/Pince/CoralAlgueInspire.java

@@ -31,11 +31,11 @@ public class CoralAlgueInspire extends Command {
     if(pince.emperagealgue()>60){
       pince.aspirealgue(0);
       bougie.Bleu();
-     } 
+      } 
      else{
       pince.aspirealgue(0.5);
+      bougie.Jaune();
       }
-    
   }
 
   // Called once the command ends or is interrupted.

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

@@ -26,13 +26,13 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    //if(pince.emperagecoral() > 60){
-    //  pince.aspirecoral(0);
-   //}
-   //else{
+    if(pince.emperagecoral() > 60){
+     pince.aspirecoral(0);
+   }
+   else{
     pince.aspirecoral(-.5);
-    //bougie.Jaune();
-   // }
+    bougie.Jaune();
+    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,15 +5,19 @@
 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 ExpireAlgue extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new ExpireAlgue. */
-  public ExpireAlgue(Requin requin) {
+  public ExpireAlgue(Requin requin, Bougie bougie
+  ) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,7 +28,14 @@ public class ExpireAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.5);
+    if(requin.amp()> 60){
+      requin.balaye(-0.5);
+    }
+     else
+     {
+          bougie.Rouge();
+          requin.balaye(-0.5);
+     }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -30,7 +30,7 @@ public class L1Requin extends Command {
     
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
-      if(requin.amp()>8){
+      if(requin.amp()>60){
       requin.balaye(-0.5);
     }
         else{

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

@@ -5,16 +5,19 @@
 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 aspire extends Command {
   /** Creates a new aspire. */
   private Requin requin;
-  public aspire(Requin requin) {
+  private Bougie bougie;
+  public aspire(Requin requin, Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin, bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -24,7 +27,14 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.3);
+    if(requin.amp()> 60){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+     else
+     {
+          requin.balaye(0.5);
+     }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,16 +5,21 @@
 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 exspire extends Command {
   /** Creates a new aspire. */
   private Requin requin;
-  public exspire(Requin requin) {
+  private Bougie bougie
+  ;
+  public exspire(Requin requin,Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie
+    =bougie;
+    addRequirements(requin,bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -24,7 +29,14 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(-0.3);
+    if(requin.amp()> 60){
+      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/Bougie.java

@@ -24,24 +24,38 @@ public class Bougie extends SubsystemBase {
    candle.setLEDs(255, 0, 0,0,24,8);
    candle.setLEDs(255, 0, 0,0,40,8);
    candle.setLEDs(255, 0, 0,0,56,8);
+   candle.setLEDs(255, 0, 0,0,72,8);
+   candle.setLEDs(255, 0, 0,0,88,8);
+   candle.setLEDs(255, 0, 0,0,104,8);
+   candle.setLEDs(255, 0, 0,0,120,8);
   }
   public void Vert() {
    candle.setLEDs(0, 255, 0,0,8,8);
    candle.setLEDs(0, 255, 0,0,24,8);
    candle.setLEDs(0, 255, 0,0,40,8);
    candle.setLEDs(0, 255, 0,0,56,8);
+   candle.setLEDs(0, 255, 0,0,72,8);
+   candle.setLEDs(0, 255, 0,0,88,8);
+   candle.setLEDs(0, 255, 0,0,104,8);
+   candle.setLEDs(0, 255, 0,0,120,8);
   }
   public void Bleu() {
     candle.setLEDs(0, 0, 255,0,16,8);
     candle.setLEDs(0, 0, 255,0,32,8);
     candle.setLEDs(0, 0, 255,0,48,8);
     candle.setLEDs(0, 0, 255,0,64,8);
+    candle.setLEDs(0, 0, 255,0,80,8);
+    candle.setLEDs(0, 0, 255,0,96,8);
+    candle.setLEDs(0, 0, 255,0,112,8);
   }
    public void Jaune() {
    candle.setLEDs(255, 215, 0,0,16,8);
    candle.setLEDs(255, 215, 0,0,32,8);
    candle.setLEDs(255, 215, 0,0,48,8);
    candle.setLEDs(255, 215, 0,0,64,8);
+   candle.setLEDs(255, 215, 0,0,80,8);
+   candle.setLEDs(255, 215, 0,0,96,8);
+   candle.setLEDs(255, 215, 0,0,112,8);
    }
   public void RainBow(){
     candle.animate(rainbowAnim);