Merge remote-tracking branch 'origin/main' into 3-poussoir

src/main/java/frc/robot/Constants.java

@@ -15,6 +15,11 @@ package frc.robot;
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    public static final int MoteurAvantGauche = (0);
+    public static final int MoteurAvantDroit = (0);
+    public static final int MoteurArriereGauche = (0);
+    public static final int MoteurArriereDroit = (0);
+
     public static final int PistonPousserR = 0;
     public static final int PistonPousserF = 1;
     public static final int pistonQuiShakef = 0;

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

@@ -5,21 +5,22 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Poussoir;
 
 public class Activer_poussoir extends CommandBase {
-  /** Creates a new Activer_poussoir. */
-  public Activer_poussoir() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
+  private Poussoir poussoir;
+
+  public Activer_poussoir(Poussoir poussoir) {
+    this.poussoir = poussoir;
+
+
+    addRequirements(poussoir);
+  } 
 
   // 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() {}
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}

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

@@ -0,0 +1,39 @@
+// 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.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class BasePilotable extends SubsystemBase {
+     
+
+private WPI_TalonSRX avantGauche = new WPI_TalonSRX(Constants.MoteurAvantGauche);
+
+private WPI_TalonSRX avantDroit = new WPI_TalonSRX(Constants.MoteurAvantDroit);
+
+private WPI_TalonSRX arriereGauche = new WPI_TalonSRX(Constants.MoteurArriereGauche);
+
+private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroit);
+
+private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
+
+private void drive(double y, double x, double rot){
+  mecanum.driveCartesian(y, x, rot, 0);
+}
+  /** Creates a new BasePilotable. */
+  public BasePilotable() {
+    avantDroit.setInverted(true);
+    arriereDroit.setInverted(true);
+  }
+   
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}