ajout exspire

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

@@ -4,27 +4,41 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.BalayeuseAlgue;
+import frc.robot.commands.BalayeuseBas;
 import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
+import frc.robot.commands.aspire;
+import frc.robot.commands.exspire;
+import frc.robot.commands.requin_manuel;
 import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
+import frc.robot.commands.aspire;
 public class RobotContainer {
-  CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(1);
-  Requin requin = new Requin();
-  Bougie bougie = new Bougie();
+CommandXboxController manette1 = new CommandXboxController(0);
+CommandXboxController manette2 = new CommandXboxController(1);
+Requin requin = new Requin();
+Bougie bougie = new Bougie();
+aspire aspire = new aspire(requin);
+requin_manuel requin_manuel = new requin_manuel(requin);
   public RobotContainer() {
     configureBindings();
+   requin.setDefaultCommand(new RunCommand(()->{
+      requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+    }, requin));
   }
 
   private void configureBindings() {
-    manette2.b().whileTrue(new BalayeuseAlgue(requin));
-    manette2.x().whileTrue(new BalayeuseCoral(requin));
+    manette2.a().whileTrue(new aspire(requin));
+    manette2.rightTrigger().whileTrue(new exspire(requin));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
+    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

@@ -13,10 +13,10 @@ 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);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -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/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;
+
+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/BalayeuseCoral.java

@@ -13,10 +13,10 @@ 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);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -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/commands/BalayeuseHaut.java

@@ -29,7 +29,7 @@ public class BalayeuseHaut extends Command {
       requin.reset();
     }
     else{
-      requin.rotationer(0.5);
+      requin.rotationer(-0.5);
     }
   }
 

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

@@ -13,6 +13,7 @@ public class ExpireAlgue extends Command {
   /** Creates a new ExpireAlgue. */
   public ExpireAlgue(Requin requin) {
     this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

src/main/java/frc/robot/commands/aspire.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;
+
+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 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.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    requin.balaye(0.3);
+  }
+
+  // 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/exspire.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;
+
+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 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.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    requin.balaye(-0.3);
+  }
+
+  // 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_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;
+
+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;
+  }
+}

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. */
@@ -43,7 +43,8 @@ public class Bougie extends SubsystemBase {
    candle.setLEDs(255, 215, 0,0,48,8);
    candle.setLEDs(255, 215, 0,0,64,8);
    }
-  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBow(){
+    candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override
   public void periodic() {

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

@@ -7,17 +7,22 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
-  public Requin() {}
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Requin() {
+    teb.addBoolean("limit requin", this::enHaut);
+  }
+   
   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);
+  final DigitalInput limit3 = new DigitalInput(1);
+    
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }
@@ -27,9 +32,6 @@ public class Requin extends SubsystemBase {
   public boolean enHaut(){
   return limit3.get();
   } 
-  public boolean stop(){
-  return  limit5.get();
-  }
   public double encodeur(){
   return rotatione.getEncoder().getPosition();
   }