mamadou

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

@@ -3,8 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -13,10 +18,22 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.subsystems.Drive;
 
 public class RobotContainer {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
+  .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
+  .withSize(3, 7);
+  GenericEntry force1 = forces.add("Force1", 0).getEntry();
+  GenericEntry force2 = forces.add("Force2", 0).getEntry();
+  GenericEntry force3 = forces.add("Force3", 0).getEntry();
+  GenericEntry force4 = forces.add("Force4", 0).getEntry();
+  GenericEntry force5 = forces.add("Force5", 0).getEntry();
+  GenericEntry force6 = forces.add("Force6", 0).getEntry();
+  GenericEntry force7 = forces.add("Force7", 0).getEntry();
   CommandXboxController manette = new CommandXboxController(0);
   Joystick joystick1 = new Joystick(0);
   Drive drive = new Drive();
   public RobotContainer() {
+    
     configureBindings();
    // drive.setDefaultCommand(new RunCommand(()->{
      // drive.drive(manette.getLeftX(), manette.getLeftY(), manette.getRightX());

src/main/java/frc/robot/commands/Force1.java

@@ -4,19 +4,20 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force1 extends CommandBase {
   private Lanceur lanceur;
-  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  GenericEntry force1;
+  
   /** Creates a new Force1. */
-  public Force1(Lancer lancer) {
+  public Force1(Lanceur lanceur, GenericEntry force1) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
-    dashboard.addDouble("Force1",this::lanceur);
+    this.force1 = force1; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -29,7 +30,7 @@ public class Force1 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(500);
+    lanceur.lancer(force1.getDouble(0));
   
   }
 

src/main/java/frc/robot/commands/Force2.java

@@ -4,16 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force2 extends CommandBase {
   private Lanceur lanceur;
-
+  GenericEntry force2;
   /** Creates a new Force1. */
   public Force2(Lancer lancer) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
+    this.force2 = force2; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

src/main/java/frc/robot/commands/Force3.java

@@ -4,16 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force3 extends CommandBase {
   private Lanceur lanceur;
-
+  GenericEntry force3;
   /** Creates a new Force1. */
   public Force3(Lancer lancer) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
+    this.force3 = force3; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

src/main/java/frc/robot/commands/Force4.java

@@ -4,16 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force4 extends CommandBase {
   private Lanceur lanceur;
-
+  GenericEntry force4;
   /** Creates a new Force1. */
   public Force4(Lancer lancer) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
+    this.force4 = force4; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

src/main/java/frc/robot/commands/Force5.java

@@ -4,16 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force5 extends CommandBase {
   private Lanceur lanceur;
-
+  GenericEntry force5;
   /** Creates a new Force1. */
   public Force5(Lancer lancer) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
+    this.force5 = force5; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

src/main/java/frc/robot/commands/Force6.java

@@ -4,16 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force6 extends CommandBase {
   private Lanceur lanceur;
-
+  GenericEntry force6;
   /** Creates a new Force1. */
   public Force6(Lancer lancer) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
+    this.force6 = force6;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

src/main/java/frc/robot/commands/Force7.java

@@ -4,16 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force7 extends CommandBase {
   private Lanceur lanceur;
-
+  GenericEntry force7;
   /** Creates a new Force1. */
   public Force7(Lancer lancer) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
+    this.force7 = force7; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

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

@@ -7,24 +7,14 @@ package frc.robot.subsystems;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
-import frc.robot.commands.Force1;
-import frc.robot.commands.Lancer;
 
 public class Lanceur extends SubsystemBase {
-  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  
-  ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
-  .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
-  .withSize(2, 7);
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); 
   public Lanceur() {
-  GenericEntry force1 = forces.add("Force1", Force1.lanceur).GetEntry();
+  
   }
 
   public void lancer(double vitesse){