id

src/main/java/frc/robot/command/AlgueExpire.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.command;
-
-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 AlgueExpire extends Command {
-  private Pince pince;
-  /** Creates a new CoralAlgue. */
-  public AlgueExpire(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.aspirealgue(0.5);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.aspirealgue(0); 
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,49 +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.command;
-
-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 CoralAlgueInspire extends Command {
-  private Pince pince;
-  /** Creates a new CoralAlgue. */
-  public CoralAlgueInspire(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(-.5);
-    if(pince.emperagealgue()>8){
-      pince.aspirealgue(0);
-     } 
-     else{
-      pince.aspirealgue(0.5);
-      }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.aspirecoral(0);
-    pince.aspirealgue(0); 
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/command/CoralExpire.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.command;
-
-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 CoralExpire extends Command {
-  private Pince pince;
-  /** Creates a new CoralAlgue. */
-  public CoralExpire(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(.5);
-  }
-
-  // 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/command/StationPince.java

@@ -1,49 +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.command;
-
-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 StationPince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public StationPince(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() {
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -2,18 +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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Elevateur;
 
 /* 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 DepartPince extends Command {
+public class Depart extends Command {
-  private Pince pince;
+  private Elevateur elevateur;
-  /** Creates a new DepartPince. */
+  /** Creates a new L2. */
-  public DepartPince(Pince pince) {
+  public Depart(Elevateur elevateur) {
-    this.pince = pince;
+    this.elevateur = elevateur;
-    addRequirements(pince);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,24 +24,24 @@ public class DepartPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.position()==true){
+    if(elevateur.limit2()==true){
-      pince.pivote(0);
+      elevateur.vitesse(0);
-      pince.reset();
+      elevateur.reset();
     }
     else{
-      pince.pivote(.5);
+      elevateur.vitesse(-.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return elevateur.limit2()==true;
   }
 }

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

@@ -2,18 +2,22 @@
 // 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;
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Elevateur;
 
 /* 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 CoralInspire extends Command {
+public class ElevateurManuel extends Command {
-  private Pince pince;
+  private DoubleSupplier doubleSupplier;
-  /** Creates a new CoralAlgue. */
+  private Elevateur elevateur;
-  public CoralInspire(Pince pince) {
+  /** Creates a new ElevateurManuel. */
-    this.pince = pince;
+  public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
-    addRequirements(pince);
+    this.doubleSupplier = doubleSupplier;
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,18 +28,16 @@ public class CoralInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral()>8){
+    if(elevateur.limit2()==true){
-    pince.aspirecoral(0);  
+      elevateur.vitesse(0);
-    }
-    else{
-      pince.aspirecoral(.5);
     }
+    elevateur.vitesse(doubleSupplier.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.

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

@@ -2,18 +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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Elevateur;
 
 /* 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 L2Pince extends Command {
+public class L2 extends Command {
-  private Pince pince;
+  private Elevateur elevateur;
-  /** Creates a new L2Pince. */
+  /** Creates a new L2. */
-  public L2Pince(Pince pince) {
+  public L2(Elevateur elevateur) {
-    this.pince = pince;
+    this.elevateur = elevateur;
-    addRequirements(pince);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,21 +24,22 @@ public class L2Pince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+    if(elevateur.position()>=500 && elevateur.position()<=510){
-      pince.pivote(0);
+      elevateur.vitesse(0);
     }
-    else if(pince.encodeurpivot()>=510){
+    else if(elevateur.position()>=510){
-      pince.pivote(-0.3);
+      elevateur.vitesse(-0.3);
     }
     else{
-      pince.pivote(0.3);
+      elevateur.vitesse(.3);
     }
+
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.

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

@@ -2,18 +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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Elevateur;
 
 /* 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 L4Pince extends Command {
+public class L3 extends Command {
-  private Pince pince;
+  private Elevateur elevateur;
-  /** Creates a new L2Pince. */
+  /** Creates a new L2. */
-  public L4Pince(Pince pince) {
+  public L3(Elevateur elevateur) {
-    this.pince = pince;
+    this.elevateur = elevateur;
-    addRequirements(pince);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,21 +24,21 @@ public class L4Pince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+    if(elevateur.position()>=700 && elevateur.position()<=710){
-      pince.pivote(0);
+      elevateur.vitesse(0);
     }
-    else if(pince.encodeurpivot()>=810){
+    else if(elevateur.position()>=510){
-      pince.pivote(-0.5);
+      elevateur.vitesse(-0.5);
     }
     else{
-      pince.pivote(0.5);
+      elevateur.vitesse(.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.

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

@@ -2,18 +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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Elevateur;
 
 /* 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 L3Pince extends Command {
+public class L4 extends Command {
-  private Pince pince;
+  private Elevateur elevateur;
-  /** Creates a new L2Pince. */
+  /** Creates a new L2. */
-  public L3Pince(Pince pince) {
+  public L4(Elevateur elevateur) {
-    this.pince = pince;
+    this.elevateur = elevateur;
-    addRequirements(pince);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,26 +24,26 @@ public class L3Pince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+    if(elevateur.position()>=800 && elevateur.position()<=810){
-      pince.pivote(0);
+      elevateur.vitesse(0);
     }
-    else if(pince.encodeurpivot()>=710){
+    else if(elevateur.position()>=810){
-      pince.pivote(-0.5);
+      elevateur.vitesse(-0.5);
     }
     else{
-      pince.pivote(0.5);
+      elevateur.vitesse(.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return elevateur.position()>=800;
   }
 }

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

@@ -0,0 +1,32 @@
+// 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.wpilibj2.command.SubsystemBase;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+public class Elevateur extends SubsystemBase {
+  /** Creates a new Elevateur. */
+  public Elevateur() {}
+  final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
+  final DigitalInput limit2 = new DigitalInput(0);
+  public double position(){
+    return monte.getEncoder().getPosition();
+  }
+  public void vitesse(double vitesse){
+    monte.set(vitesse);
+  }
+  public boolean limit2(){
+    return limit2.get();
+  } 
+  public void reset(){
+    monte.getEncoder().setPosition(0);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -1,50 +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 com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Pince extends SubsystemBase {
-  /** Creates a new Pince. */
-  public Pince() {}
-  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(0);
-  public void aspirecoral(double vitesse){
-    coral.set(vitesse);
-  }
-public void pivote(double vitesse){
-  pivoti.set(vitesse);
-}
-public void aspirealgue(double vitesse){
-  algue2.set(vitesse);
-  algue1.set(-vitesse);
-}
-public double encodeurpivot(){
-  return pivoti.getEncoder().getPosition();
-}
-public boolean position(){
- return limit6.get();
-}
-public void reset(){
-  pivoti.getEncoder().setPosition(0);
-}
-public double emperagecoral(){
-  return coral.getOutputCurrent();
-}
-public double emperagealgue(){
-  return algue1.getOutputCurrent();
-}
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}