debug

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

@@ -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.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

@@ -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.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

@@ -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.commands;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+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 Depart extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public Depart(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+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.
   }
 
@@ -24,24 +24,23 @@ public class Depart extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.limit2()==true){
-      elevateur.vitesse(0);
-      elevateur.reset();
+    if(pince.emperagecoral()>8){
+    pince.aspirecoral(0);  
     }
     else{
-      elevateur.vitesse(-.5);
+      pince.aspirecoral(.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.limit2()==true;
+    return false;
   }
 }

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

@@ -0,0 +1,47 @@
+// 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

@@ -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.commands;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+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 L3 extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public L3(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+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.
   }
 
@@ -24,21 +24,21 @@ public class L3 extends Command {
   // 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);
+    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+      pince.pivote(0);
     }
-    else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.5);
+    else if(pince.encodeurpivot()>=510){
+      pince.pivote(-0.3);
     }
     else{
-      elevateur.vitesse(.5);
+      pince.pivote(0.3);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L3Pince.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.commands;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+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 L2 extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public L2(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+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.
   }
 
@@ -24,22 +24,21 @@ public class L2 extends Command {
   // 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);
+    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+      pince.pivote(0);
     }
-    else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.3);
+    else if(pince.encodeurpivot()>=710){
+      pince.pivote(-0.5);
     }
     else{
-      elevateur.vitesse(.3);
+      pince.pivote(0.5);
     }
-
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L4Pince.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.commands;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
+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 L4 extends Command {
-  private Elevateur elevateur;
-  /** Creates a new L2. */
-  public L4(Elevateur elevateur) {
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
+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.
   }
 
@@ -24,26 +24,26 @@ public class L4 extends Command {
   // 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);
+    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+      pince.pivote(0);
     }
-    else if(elevateur.position()>=810){
-      elevateur.vitesse(-0.5);
+    else if(pince.encodeurpivot()>=810){
+      pince.pivote(-0.5);
     }
     else{
-      elevateur.vitesse(.5);
+      pince.pivote(0.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=800;
+    return false;
   }
 }

src/main/java/frc/robot/command/StationPince.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.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/ElevateurManuel.java

@@ -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.commands;
-
-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;
-  }
-}

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

@@ -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(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

@@ -0,0 +1,50 @@
+// 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
+  }
+}