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

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

@@ -41,6 +41,9 @@ import frc.robot.commands.Pince.CorailAspir;
 import frc.robot.commands.Pince.CoralAlgueInspire;
 import frc.robot.commands.Pince.CoralExpire;
 import frc.robot.commands.Pince.PinceManuel;
+import frc.robot.commands.requin.BalayeuseBas;
+import frc.robot.commands.requin.BalayeuseHaut;
+import frc.robot.commands.requin.exspire;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
@@ -48,6 +51,7 @@ import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 public class RobotContainer {
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -78,6 +82,7 @@ public class RobotContainer {
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
   Grimpeur Grimpeur = new Grimpeur();
+  Requin requin = new Requin();
   
   public RobotContainer() {
     autoChooser = AutoBuilder.buildAutoChooser("New Auto");
@@ -91,7 +96,7 @@ public class RobotContainer {
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
     }
   private void configureBindings() {
-    
+    drivetrain.registerTelemetry(logger::telemeterize);
  drivetrain.setDefaultCommand(
           // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
@@ -100,49 +105,49 @@ public class RobotContainer {
               .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
         )
       );
-    // Elevateur manuel
+   
-    drivetrain.registerTelemetry(logger::telemeterize);
-    elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
-    }, elevateur));
-
-    //Pince manuel
-    pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
-    }, pince));
      
-    
+            /* Manette 1 */
-    // manette1
-
     // reset the field-centric heading on start press
     manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
 
-    //elevateur
-    manette1.a().whileTrue(new Depart(elevateur, pince));
-    manette1.b().whileTrue(new L2(elevateur,pince));
-    manette1.x().whileTrue(new L3(elevateur, pince));
-    manette1.y().whileTrue(new L4(elevateur, pince));
-
     //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
 
-    //manette2
+     //elevateur
+     manette1.a().whileTrue(new Depart(elevateur, pince));
+     manette1.b().whileTrue(new L2(elevateur,pince));
+     manette1.x().whileTrue(new L3(elevateur, pince));
+     manette1.y().whileTrue(new L4(elevateur, pince));
 
+            /* Manette 2 */
     //pince
     manette2.a().whileTrue(new CorailAspir(pince));
-    manette2.start().whileTrue(new reset(elevateur,pince));
     manette2.b().whileTrue(new Algue_inspire(pince));
-    manette2.start().whileTrue(new reset(elevateur,pince));
+    manette2.y().whileTrue(new BalayeuseHaut(requin));
+    manette2.x().whileTrue(new BalayeuseBas(requin));
+    manette2.rightTrigger().whileTrue(new exspire(requin));
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
 
+     //Pince manuel
+     pince.setDefaultCommand(new RunCommand(()->{
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
+    }, pince));
+
+    //Elevateur manuel
+    elevateur.setDefaultCommand(new RunCommand(()->{
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
+    }, elevateur));
+
     //limelight
     manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+
+    //Reset encodeur
+    manette2.start().whileTrue(new reset(elevateur, pince));
   }
-  
-    // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
     
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(Commands.runOnce(()->{