baleeuse

src/main/java/frc/robot/command/BalayeuseAlgue.java

@@ -0,0 +1,56 @@
+// 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.command;
+
+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 BalayeuseAlgue extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(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() {
+    if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+      requin.rotationer(0);
+    }
+    else if(requin.encodeur()>=510){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(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/command/BalayeuseCoral.java

@@ -0,0 +1,56 @@
+// 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.command;
+
+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 BalayeuseCoral extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(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() {
+    if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+      requin.rotationer(0);
+    }
+    else if(requin.encodeur()>=110){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(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/command/BalayeuseHaut.java

@@ -26,6 +26,7 @@ public class BalayeuseHaut extends Command {
   public void execute() {
     if(requin.enHaut()==true){
       requin.rotationer(0);
+      requin.reset();
     }
     else{
       requin.rotationer(0.5);

src/main/java/frc/robot/command/L1Requin.java

@@ -8,10 +8,10 @@ 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 {
+public class L1Requin extends Command {
   private Requin requin;
   /** Creates a new Balayeuse. */
-  public BalayeuseBas(Requin requin) {
+  public L1Requin(Requin requin) {
     this.requin = requin;
     addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,9 +24,12 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enBas()==true){
+    if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
     }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
+    }
     else{
       requin.rotationer(-0.5);
     }

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

@@ -17,23 +17,25 @@ public class Requin extends SubsystemBase {
   final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(0);
-  final DigitalInput limit4 = new DigitalInput(0);
   final DigitalInput limit5 = new DigitalInput(0);
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }
   public void rotationer(double vitesse){
-    rotatione.set(vitesse);
+  rotatione.set(vitesse);
   }
   public boolean enHaut(){
-    return limit3.get();
-  }
-  public boolean enBas(){
-  return limit4.get();
+  return limit3.get();
   }
   public boolean stop(){
   return  limit5.get();
   }
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run