Grimpeur, Fonctionne

simgui-ds.json

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

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

@@ -9,38 +9,34 @@ 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.BalayeuseAlgue;
-import frc.robot.commands.BalayeuseBas;
-import frc.robot.commands.BalayeuseCoral;
-import frc.robot.commands.BalayeuseHaut;
-import frc.robot.commands.L1Requin;
-import frc.robot.commands.aspire;
-import frc.robot.commands.exspire;
-import frc.robot.commands.requin_manuel;
-import frc.robot.subsystems.Requin;
+import frc.robot.commands.GrimperHaut;
+import frc.robot.commands.GrimpeurBas;
+import frc.robot.commands.GrimpeurManuel;
+import frc.robot.commands.ResetGrimpeur;
 import frc.robot.subsystems.Bougie;
-import frc.robot.commands.aspire;
+import frc.robot.subsystems.Grimpeur;
+
 public class RobotContainer {
-CommandXboxController manette1 = new CommandXboxController(0);
-CommandXboxController manette2 = new CommandXboxController(1);
-Requin requin = new Requin();
-Bougie bougie = new Bougie();
-aspire aspire = new aspire(requin);
-requin_manuel requin_manuel = new requin_manuel(requin);
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(1);
+  Grimpeur grimpeur = new Grimpeur();
+  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();
-   requin.setDefaultCommand(new RunCommand(()->{
-      requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
-    }, requin));
   }
   
   private void configureBindings() {
-    manette2.a().whileTrue(new aspire(requin));
-    manette2.rightTrigger().whileTrue(new exspire(requin));
-    manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
-    manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
-    manette2.y().whileTrue(new L1Requin(requin,bougie));
-    manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
+    manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
+    manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
+    manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
   }
 
   public Command getAutonomousCommand() {

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

@@ -1,63 +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 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 BalayeuseAlgue extends Command {
-  private Requin requin;
-  private Bougie bougie;
-  /** Creates a new Balayeuse. */
-  public BalayeuseAlgue(Requin requin, Bougie bougie) {
-    this.requin = requin;
-    this.bougie =bougie;
-    addRequirements(requin,bougie);
-    // 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(requin.encodeur()>=500 &&  requin.encodeur()<=510)
-     {
-       requin.rotationer(0);
-       if(requin.amp()> 60){
-       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) {
-    requin.rotationer(0);
-    requin.balaye(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,40 +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 edu.wpi.first.wpilibj2.command.Command;
-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 BalayeuseBas extends Command {
-  private Requin requin;
-  /** Creates a new Balayeuse. */
-  public BalayeuseBas(Requin requin) {
-    this.requin = requin;
-    addRequirements(requin);
-    // 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() {
-  requin.rotationer(-0.5);
-  }
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    requin.rotationer(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,67 +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 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 BalayeuseCoral extends Command {
-  private Requin requin;
-  private Bougie bougie;
-  /** Creates a new Balayeuse. */
-  public BalayeuseCoral(Requin requin, Bougie bougie) {
-    this.requin = requin;
-    this.bougie = bougie;
-    addRequirements(requin,bougie);
-    // 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(requin.encodeur()>=100 &&  requin.encodeur()<=110){
-       requin.rotationer(0);
-      if(requin.amp()>60){
-      requin.balaye(0);
-       bougie.Vert();
-       if(requin.enHaut()){
-        requin.rotationer(0);
-       }
-        else{
-          requin.rotationer(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) {
-    requin.rotationer(0);
-    requin.balaye(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/ExpireAlgue.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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-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 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.
-  }
-
-  // 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() {
-    requin.balaye(0.5);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    requin.balaye(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 {
-  private Requin requin;
-  /** Creates a new Balayeuse. */
-  public BalayeuseHaut(Requin requin) {
-    this.requin = requin;
-    addRequirements(requin);
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,19 +24,20 @@ public class BalayeuseHaut extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enHaut()==true){
-      requin.rotationer(0);
-      requin.reset();
+    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
+      grimpeur.grimpe(0);
     }
-    else{
-      requin.rotationer(-0.5);
+    else if(grimpeur.encodeur()>=-38.5){
+      grimpeur.grimpe(-0.5);
     }
+   else{grimpeur.grimpe(0.5);
+  } 
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.rotationer(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

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

@@ -7,17 +7,18 @@ package frc.robot.commands;
 import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 requin_manuel extends Command {
-  /** Creates a new requin_manuel. */
-  private Requin requin;
+public class GrimpeurManuel extends Command {
+  private Grimpeur grimpeur;
   private DoubleSupplier x;
-  public requin_manuel(Requin requin) {
+  /** Creates a new GrimpeurManuel. */
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
+    this.grimpeur = grimpeur;
+    this.x = x;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.requin = requin;
-    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -27,18 +28,19 @@ public class requin_manuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enHaut()){
-    requin.rotationer(0);  
+    if(grimpeur.stop()){
+      grimpeur.grimpe(0);
     }
     else{
-      requin.rotationer(x.getAsDouble());
+    grimpeur.grimpe(x.getAsDouble());  
     }
+    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.rotationer(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+import frc.robot.subsystems.Bougie;
 
 /* 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 aspire extends Command {
-  /** Creates a new aspire. */
-  private Requin requin;
-  public aspire(Requin requin) {
+public class RainBow extends Command {
+  /** Creates a new RainBow. */
+  private Bougie bougie;
+  public RainBow(Bougie bougie) {
+    this.bougie = bougie;
+    addRequirements(bougie);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.requin = requin;
-    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +24,13 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.3);
+    bougie.RainBow();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.balaye(0);
+    bougie.RainBowStop();
   }
 
   // Returns true when the command should end.

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

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+import frc.robot.subsystems.Grimpeur;
 
 /* 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 exspire extends Command {
-  /** Creates a new aspire. */
-  private Requin requin;
-  public exspire(Requin requin) {
+public class ResetGrimpeur extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new ResetGrimpeur. */
+  public ResetGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.requin = requin;
-    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,14 +24,12 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(-0.3);
+    grimpeur.reset();
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-    requin.balaye(0);
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override

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(23);
+  CANdle candle = new CANdle(5);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */
@@ -20,34 +20,19 @@ public class Bougie extends SubsystemBase {
     candle.configAllSettings(config);
   }
   public void Rouge() {
-   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);
+   candle.setLEDs(255, 0, 0);
   }
   public void Vert() {
-   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);
+   candle.setLEDs(0, 255, 0);
   }
   public void Bleu() {
-    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);
+   candle.setLEDs(0, 0, 255);
   }
-   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 RainBow(){candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
 }
+

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

@@ -4,43 +4,35 @@
 
 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.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Requin extends SubsystemBase {
-  /** Creates a new Requin. */
+public class Grimpeur extends SubsystemBase {
+  /** Creates a new Grimpeur. */
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  public Requin() {
-    teb.addBoolean("limit requin", this::enHaut);
+  public Grimpeur() {
+    teb.addBoolean("limit grimpeur", this::stop);
+    teb.addDouble("encodeur grimpeur", this::encodeur);
   }
-   
-  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
-  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
-  final DigitalInput limit3 = new DigitalInput(1);
-    
-  public void balaye(double vitesse){
-    balaye.set(vitesse);
+  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
+  final DigitalInput limit1 = new DigitalInput(2);
+  public void grimpe(double vitesse){
+    grimpeur.set(vitesse);
   }
-  public void rotationer(double vitesse){
-  rotatione.set(vitesse);
-  }
-  public boolean enHaut(){
-  return limit3.get();
+  public boolean stop(){
+   return limit1.get();
   }
   public double encodeur(){
-  return rotatione.getEncoder().getPosition();
+  return grimpeur.getEncoder().getPosition();
   }
   public void reset(){
-    rotatione.getEncoder().setPosition(0);
-  }
-  public double amp(){
-    return balaye.getOutputCurrent();
-  }
+     grimpeur.getEncoder().setPosition(0);
+    }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run