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

@@ -6,8 +6,11 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public class RobotContainer {
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(0);
   public RobotContainer() {
     configureBindings();
   }

src/main/java/frc/robot/command/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.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;
-  }
-}

src/main/java/frc/robot/command/L4.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.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;
-  }
-}

src/main/java/frc/robot/commands/BalayeuseBas.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.Elevateur;
+import frc.robot.subsystems.Requin;
 
 /* 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 {
+public class BalayeuseBas extends Command {
-  private Elevateur elevateur;
+  private Requin requin;
-  /** Creates a new L2. */
+  /** Creates a new Balayeuse. */
-  public L2(Elevateur elevateur) {
+  public BalayeuseBas(Requin requin) {
-    this.elevateur = elevateur;
+    this.requin = requin;
-    addRequirements(elevateur);
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,22 +24,25 @@ 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){
+    if(requin.enBas()==true){
-      elevateur.vitesse(0);
+      requin.rotationer(0);
-    }
-    else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.3);
     }
     else{
-      elevateur.vitesse(.3);
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(0.5);
     }
-
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    requin.rotationer(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/BalayeuseHaut.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.Elevateur;
+import frc.robot.subsystems.Requin;
 
 /* 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 {
+public class BalayeuseHaut extends Command {
-  private Elevateur elevateur;
+  private Requin requin;
-  /** Creates a new L2. */
+  /** Creates a new Balayeuse. */
-  public Depart(Elevateur elevateur) {
+  public BalayeuseHaut(Requin requin) {
-    this.elevateur = elevateur;
+    this.requin = requin;
-    addRequirements(elevateur);
+    addRequirements(requin);
     // 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){
+    if(requin.enHaut()==true){
-      elevateur.vitesse(0);
+      requin.rotationer(0);
-      elevateur.reset();
     }
     else{
-      elevateur.vitesse(-.5);
+      requin.rotationer(0.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    elevateur.vitesse(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.limit2()==true;
+    return false;
   }
 }

src/main/java/frc/robot/commands/L1.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.Elevateur;
+import frc.robot.subsystems.Requin;
 
 /* 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 {
+public class L1 extends Command {
-  private Elevateur elevateur;
+  private Requin requin;
-  /** Creates a new L2. */
+  /** Creates a new L1. */
-  public L3(Elevateur elevateur) {
+  public L1(Requin requin) {
-    this.elevateur = elevateur;
+    this.requin = requin;
-    addRequirements(elevateur);
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,21 +24,13 @@ 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){
+    requin.balaye(-0.5);
-      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);
+    requin.balaye(.0);
   }
 
   // Returns true when the command should end.

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(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
-  }
-}