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

@@ -7,26 +7,15 @@ 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;
-import frc.robot.command.BalayeuseAlgue;
-import frc.robot.command.BalayeuseCoral;
-import frc.robot.command.BalayeuseHaut;
-import frc.robot.command.L1Requin;
-import frc.robot.subsystems.Requin;
 
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(0);
-  Requin requin = new Requin();
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {
+  private void configureBindings() {}
-    manette2.b().whileTrue(new BalayeuseAlgue(requin));
-    manette2.x().whileTrue(new BalayeuseCoral(requin));
-    manette2.y().whileTrue(new L1Requin(requin));
-    manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
-  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

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

@@ -1,56 +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.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;
-  /** Creates a new Balayeuse. */
-  public BalayeuseCoral(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() {
-    if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
-      requin.rotationer(0);
-    }
-    else if(requin.encodeur()>=110){
-    requin.rotationer(0.5);
-    }
-    else{
-      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) {
-    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

@@ -2,16 +2,16 @@
 // 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.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 L1Requin extends Command {
+public class BalayeuseBas extends Command {
   private Requin requin;
   /** Creates a new Balayeuse. */
-  public L1Requin(Requin requin) {
+  public BalayeuseBas(Requin requin) {
     this.requin = requin;
     addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,12 +24,9 @@ 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){
+    if(requin.enBas()==true){
       requin.rotationer(0);
     }
-    else if(requin.encodeur()>=810){
-    requin.rotationer(0.5);
-    }
     else{
       requin.rotationer(-0.5);
     }

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

@@ -2,7 +2,7 @@
 // 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.Requin;
@@ -26,7 +26,6 @@ public class BalayeuseHaut extends Command {
   public void execute() {
     if(requin.enHaut()==true){
       requin.rotationer(0);
-      requin.reset();
     }
     else{
       requin.rotationer(0.5);

src/main/java/frc/robot/commands/L1.java

@@ -2,16 +2,16 @@
 // 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.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 {
+public class L1 extends Command {
   private Requin requin;
-  /** Creates a new Balayeuse. */
+  /** Creates a new L1. */
-  public BalayeuseAlgue(Requin requin) {
+  public L1(Requin requin) {
     this.requin = requin;
     addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,28 +24,13 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+    requin.balaye(-0.5);
-      requin.rotationer(0);
-    }
-    else if(requin.encodeur()>=510){
-    requin.rotationer(0.5);
-    }
-    else{
-      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) {
-    requin.rotationer(0);
+    requin.balaye(.0);
-    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -1,43 +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 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(0, MotorType.kBrushless);
-  final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit3 = new DigitalInput(0);
-  final DigitalInput limit5 = new DigitalInput(0);
-  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);
-  }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}