code mieux

simgui-ds.json

@@ -1,7 +1,12 @@
 {
-  "System Joysticks": {
+  "FMS": {
     "window": {
-      "enabled": false
+      "visible": false
+    }
+  },
+  "Joysticks": {
+    "window": {
+      "visible": false
     }
   },
   "keyboardJoysticks": [
@@ -93,5 +98,12 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {},
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }

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

@@ -4,42 +4,32 @@
 
 package frc.robot;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.GrimperHaut;
-import frc.robot.commands.GrimpeurBas;
-import frc.robot.commands.GrimpeurManuel;
-import frc.robot.commands.ResetGrimpeur;
+import frc.robot.commands.BalayeuseAlgue;
+import frc.robot.commands.BalayeuseCoral;
+import frc.robot.commands.BalayeuseHaut;
+import frc.robot.commands.L1Requin;
+import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
-  Grimpeur grimpeur = new Grimpeur();
+  Requin requin = new Requin();
   Bougie bougie = new Bougie();
-  GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette2::getLeftY);
   public RobotContainer() {
-    grimpeur.setDefaultCommand(new RunCommand(()->{
-      if(grimpeur.stop()){
-       grimpeur.grimpe(0); 
-      }
-      else{
-        grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
-    }}, grimpeur));
     configureBindings();
   }
-  
+
   private void configureBindings() {
-    manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
-    manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
-    manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin));
+    manette2.x().whileTrue(new BalayeuseCoral(requin));
+    manette2.y().whileTrue(new L1Requin(requin,bougie));
+    manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
-}
+}

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

@@ -4,20 +4,19 @@
 
 package frc.robot.commands;
 
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Bougie;
+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 GrimpeurManuel extends Command {
-  private Grimpeur grimpeur;
-  private DoubleSupplier x;
-  /** Creates a new GrimpeurManuel. */
-  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
-    this.grimpeur = grimpeur;
-    this.x = x;
-    addRequirements(grimpeur);
+public class BalayeuseAlgue extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(Requin requin) {
+    this.requin = requin;
+    this.bougie =bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -28,19 +27,31 @@ public class GrimpeurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.stop()){
-      grimpeur.grimpe(0);
-    }
-    else{
-    grimpeur.grimpe(x.getAsDouble());  
-    }
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+       requin.rotationer(0);
+       if(requin.stop()){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+         else{
+          
+           requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
+     }
+     else{
+      requin.rotationer(-0.5);
+     }
     
-  }
+   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    requin.rotationer(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Bougie;
+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 GrimpeurBas extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+public class BalayeuseCoral extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(Requin requin) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,20 +27,36 @@ public class GrimpeurBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
-      grimpeur.grimpe(0);
+     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(0);
+       bougie.Vert();
+       if(requin.enHaut()){
+        requin.rotationer(0);
+       }
+        else{
+          requin.rotationer(0.5);
+        }
     }
-    else if(grimpeur.encodeur()>=-38.5){
-      grimpeur.grimpe(-0.5);
-    }
-   else{grimpeur.grimpe(0.5);
-  } 
+     else{
+       requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=110){
+     requin.rotationer(0.5);
+     }
+     else{
+       requin.rotationer(-0.5);
+     }
+    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    requin.rotationer(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+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 ResetGrimpeur extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new ResetGrimpeur. */
-  public ResetGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+public class BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,12 +24,20 @@ public class ResetGrimpeur extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    grimpeur.reset();
+    if(requin.enHaut()==true){
+      requin.rotationer(0);
+      requin.reset();
+    }
+    else{
+      requin.rotationer(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+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 RainBow extends Command {
-  /** Creates a new RainBow. */
-  private Bougie bougie;
-  public RainBow(Bougie bougie) {
-    this.bougie = bougie;
-    addRequirements(bougie);
+public class ExpireAlgue extends Command {
+  private Requin requin;
+  /** Creates a new ExpireAlgue. */
+  public ExpireAlgue(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,13 +24,13 @@ public class RainBow extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    bougie.RainBow();
+    requin.balaye(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    bougie.RainBowStop();
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/L1Requin.java

@@ -6,17 +6,17 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
+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 GrimperHaut extends Command {
-  private Grimpeur grimpeur;
+public class L1Requin extends Command {
+  private Requin requin;
   private Bougie bougie;
-  /** Creates a new Grimper. */
-  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
-    this.grimpeur = grimpeur;
+  /** Creates a new Balayeuse. */
+  public L1Requin(Requin requin,Bougie bougie) {
+    this.requin = requin;
     this.bougie = bougie;
-    addRequirements(grimpeur,bougie);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,30 +27,39 @@ public class GrimperHaut extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.stop()==true){
-      grimpeur.grimpe(0);
-      grimpeur.reset();
-      bougie.RainBow();
+    
+    if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
+      requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(-0.5);
+    }
+        else{
+          requin.balaye(0); 
+          bougie.Rouge();
+      }
+    }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
     }
     else{
-      grimpeur.grimpe(0.5);
-      bougie.RainBowStop();
+      requin.rotationer(-0.5);
     }
+    
+    
+      
+    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-   if(grimpeur.stop()){
-    bougie.RainBow();
-   }
-
+    requin.rotationer(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return grimpeur.stop()==true;
+    return false;
   }
 }

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

@@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Bougie extends SubsystemBase {
-  CANdle candle = new CANdle(5);
+  CANdle candle = new CANdle(50);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */
@@ -20,14 +20,29 @@ public class Bougie extends SubsystemBase {
     candle.configAllSettings(config);
   }
   public void Rouge() {
-   candle.setLEDs(255, 0, 0);
+   candle.setLEDs(255, 0, 0,0,8,8);
+   candle.setLEDs(255, 0, 0,0,24,8);
+   candle.setLEDs(255, 0, 0,0,40,8);
+   candle.setLEDs(255, 0, 0,0,56,8);
   }
   public void Vert() {
-   candle.setLEDs(0, 255, 0);
+   candle.setLEDs(0, 255, 0,0,8,8);
+   candle.setLEDs(0, 255, 0,0,24,8);
+   candle.setLEDs(0, 255, 0,0,40,8);
+   candle.setLEDs(0, 255, 0,0,56,8);
   }
   public void Bleu() {
-   candle.setLEDs(0, 0, 255);
+    candle.setLEDs(0, 0, 255,0,16,8);
+    candle.setLEDs(0, 0, 255,0,32,8);
+    candle.setLEDs(0, 0, 255,0,48,8);
+    candle.setLEDs(0, 0, 255,0,64,8);
   }
+   public void Jaune() {
+   candle.setLEDs(255, 215, 0,0,16,8);
+   candle.setLEDs(255, 215, 0,0,32,8);
+   candle.setLEDs(255, 215, 0,0,48,8);
+   candle.setLEDs(255, 215, 0,0,64,8);
+   }
   public void RainBow(){candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override
@@ -35,4 +50,3 @@ public class Bougie extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 }
-

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

@@ -4,35 +4,21 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  public Grimpeur() {
-    teb.addBoolean("limit grimpeur", this::stop);
-    teb.addDouble("encodeur grimpeur", this::encodeur);
-  }
-  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
-  final DigitalInput limit1 = new DigitalInput(2);
+  public Grimpeur() {}
+  final Spark grimpeur = new Spark(16);
+  final DigitalInput limit1 = new DigitalInput(0);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
   }
-  public boolean stop(){
-   return limit1.get();
+  final void stop(){
+    limit1.get();
   }
-  public double encodeur(){
-  return grimpeur.getEncoder().getPosition();
-  }
-  public void reset(){
-     grimpeur.getEncoder().setPosition(0);
-    }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -0,0 +1,46 @@
+// 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.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  public Requin() {}
+  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(4);
+  final DigitalInput limit5 = new DigitalInput(5);
+  public void balaye(double vitesse){
+    balaye.set(vitesse);
+  }
+  public void rotationer(double vitesse){
+  rotatione.set(vitesse);
+  }
+  public boolean enHaut(){
+  return limit3.get();
+  } 
+  public boolean stop(){
+  return  limit5.get();
+  }
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
+  public double amp(){
+    return balaye.getOutputCurrent();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}