dashboard

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

@@ -23,8 +23,8 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
-    manette2.b().whileTrue(new BalayeuseAlgue(requin));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
-    manette2.x().whileTrue(new BalayeuseCoral(requin));
+    manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }

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

@@ -13,7 +13,7 @@ public class BalayeuseAlgue extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseAlgue(Requin requin) {
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
     this.requin = requin;
     this.bougie =bougie;
     addRequirements(requin,bougie);
@@ -27,16 +27,17 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510)
+     {
        requin.rotationer(0);
-       if(requin.stop()){
+       if(requin.amp()> 60){
        requin.balaye(0);
        bougie.Vert();
      }
-         else{
+      else
-          
+      {
            requin.balaye(0.5);
-     }
+      }
      }
      else if(requin.encodeur()>=510){
      requin.rotationer(0.5);

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

@@ -13,7 +13,7 @@ public class BalayeuseCoral extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseCoral(Requin requin) {
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
     this.requin = requin;
     this.bougie = bougie;
     addRequirements(requin,bougie);
@@ -29,7 +29,7 @@ public class BalayeuseCoral extends Command {
   public void execute() {
      if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
        requin.rotationer(0);
-      if(requin.amp()>8){
+      if(requin.amp()>60){
       requin.balaye(0);
        bougie.Vert();
        if(requin.enHaut()){

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

@@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Bougie extends SubsystemBase {
-  CANdle candle = new CANdle(50);
+  CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */

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

@@ -1,26 +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.subsystems;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Grimpeur extends SubsystemBase {
-  /** Creates a new Grimpeur. */
-  public Grimpeur() {}
-  final Spark grimpeur = new Spark(16);
-  final DigitalInput limit1 = new DigitalInput(0);
-  public void grimpe(double vitesse){
-    grimpeur.set(vitesse);
-  }
-  final void stop(){
-    limit1.get();
-  }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

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

@@ -8,7 +8,11 @@ import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Requin extends SubsystemBase {
@@ -17,7 +21,11 @@ public class Requin extends SubsystemBase {
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(4);
-  final DigitalInput limit5 = new DigitalInput(5);
+
+  GenericEntry teb = Shuffleboard.getTab("teb")
+  .add("amp",encodeur())
+  .getEntry();
+    
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }
@@ -27,9 +35,6 @@ public class Requin extends SubsystemBase {
   public boolean enHaut(){
   return limit3.get();
   } 
-  public boolean stop(){
-  return  limit5.get();
-  }
   public double encodeur(){
   return rotatione.getEncoder().getPosition();
   }