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base: PLS5618:c81f1180580652cf0304801903e9dbce242fc424
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PLS5618:main
PLS5618:pince
PLS5618:Swerve
PLS5618:grimpe
PLS5618:requin
PLS5618:elevateur
..
compare: PLS5618:7848c4aaf24c0b7b9c25ac0b292d4b7f4660c422
Branches Tags
PLS5618:pince
PLS5618:Swerve
PLS5618:grimpe
PLS5618:requin
PLS5618:main
PLS5618:elevateur

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47
src/main/java/frc/robot/command/Depart.java
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@ -1,47 +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.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 Depart extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public Depart(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.limit2()==true){
elevateur.vitesse(0);
elevateur.reset();
}
else{
elevateur.vitesse(-.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.limit2()==true;
}
}

48
src/main/java/frc/robot/command/ElevateurManuel.java
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@ -1,48 +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 java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
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 ElevateurManuel extends Command {
private DoubleSupplier doubleSupplier;
private Elevateur elevateur;
/** Creates a new ElevateurManuel. */
public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
this.doubleSupplier = doubleSupplier;
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.limit2()==true){
elevateur.vitesse(0);
}
elevateur.vitesse(doubleSupplier.getAsDouble());
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

50
src/main/java/frc/robot/command/L2.java
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@ -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.command;
import edu.wpi.first.wpilibj2.command.Command;
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 L2 extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public L2(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.position()>=500 && elevateur.position()<=510){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
elevateur.vitesse(-0.3);
}
else{
elevateur.vitesse(.3);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

49
src/main/java/frc/robot/command/L3.java
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@ -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.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 L3 extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public L3(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.position()>=700 && elevateur.position()<=710){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

49
src/main/java/frc/robot/command/L4.java
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@ -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.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 L4 extends Command {
private Elevateur elevateur;
/** Creates a new L2. */
public L4(Elevateur elevateur) {
this.elevateur = elevateur;
addRequirements(elevateur);
// 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(elevateur.position()>=800 && elevateur.position()<=810){
elevateur.vitesse(0);
}
else if(elevateur.position()>=810){
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.5);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
elevateur.vitesse(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.position()>=800;
}
}

32
src/main/java/frc/robot/subsystems/Elevateur.java
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@ -1,32 +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.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(0, 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
}
}