elevateurise mieux

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

@@ -6,11 +6,8 @@ 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/Depart.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.Requin;
+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 BalayeuseHaut extends Command {
+public class Depart extends Command {
-  private Requin requin;
+  private Elevateur elevateur;
-  /** Creates a new Balayeuse. */
+  /** Creates a new L2. */
-  public BalayeuseHaut(Requin requin) {
+  public Depart(Elevateur elevateur) {
-    this.requin = requin;
+    this.elevateur = elevateur;
-    addRequirements(requin);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,23 +24,24 @@ public class BalayeuseHaut extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enHaut()==true){
+    if(elevateur.limit2()==true){
-      requin.rotationer(0);
+      elevateur.vitesse(0);
+      elevateur.reset();
     }
     else{
-      requin.rotationer(0.5);
+      elevateur.vitesse(-.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.rotationer(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return elevateur.limit2()==true;
   }
 }

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

@@ -0,0 +1,48 @@
+// 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/L2.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.Requin;
+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 BalayeuseBas extends Command {
+public class L2 extends Command {
-  private Requin requin;
+  private Elevateur elevateur;
-  /** Creates a new Balayeuse. */
+  /** Creates a new L2. */
-  public BalayeuseBas(Requin requin) {
+  public L2(Elevateur elevateur) {
-    this.requin = requin;
+    this.elevateur = elevateur;
-    addRequirements(requin);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,25 +24,22 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enBas()==true){
+    if(elevateur.position()>=500 && elevateur.position()<=510){
-      requin.rotationer(0);
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.3);
     }
     else{
-      requin.rotationer(-0.5);
+      elevateur.vitesse(.3);
-    }
-    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) {
-    requin.rotationer(0);
+    elevateur.vitesse(0);
-    requin.balaye(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L3.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.Requin;
+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 L1 extends Command {
+public class L3 extends Command {
-  private Requin requin;
+  private Elevateur elevateur;
-  /** Creates a new L1. */
+  /** Creates a new L2. */
-  public L1(Requin requin) {
+  public L3(Elevateur elevateur) {
-    this.requin = requin;
+    this.elevateur = elevateur;
-    addRequirements(requin);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,13 +24,21 @@ public class L1 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(-0.5);
+    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) {
-    requin.balaye(.0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L4.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.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/subsystems/Elevateur.java

@@ -0,0 +1,32 @@
+// 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
+  }
+}