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/CoralInspire.java

@@ -1,46 +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 CoralInspire extends Command {
-  private Pince pince;
-  /** Creates a new CoralAlgue. */
-  public CoralInspire(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.emperagecoral()>8){
-    pince.aspirecoral(0);  
-    }
-    else{
-      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/DepartPince.java

@@ -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.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 DepartPince extends Command {
-  private Pince pince;
-  /** Creates a new DepartPince. */
-  public DepartPince(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.position()==true){
-      pince.pivote(0);
-      pince.reset();
-    }
-    else{
-      pince.pivote(.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/command/L2Pince.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 L2Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L2Pince(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()>=500 && pince.encodeurpivot()<=510){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.3);
-    }
-    else{
-      pince.pivote(0.3);
-    }
-  }
-
-  // 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/command/L3Pince.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 L3Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L3Pince(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()>=700 && pince.encodeurpivot()<=710){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=710){
-      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/command/L4Pince.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 L4Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L4Pince(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()>=800 && pince.encodeurpivot()<=810){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=810){
-      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/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

@@ -2,7 +2,7 @@
 // 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.Elevateur;

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

@@ -2,7 +2,7 @@
 // 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;
 

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

@@ -2,7 +2,7 @@
 // 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.Elevateur;

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

@@ -2,7 +2,7 @@
 // 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.Elevateur;

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

@@ -2,7 +2,7 @@
 // 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.Elevateur;

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

@@ -11,7 +11,7 @@ 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 SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
   public double position(){
     return monte.getEncoder().getPosition();

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
-  }
-}