Merge branch 'Dashboard'

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;
@@ -14,10 +19,22 @@ 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

@@ -3,57 +3,46 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-import frc.robot.subsystems.Accumulateur;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+
+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;
-  private Accumulateur accumulateur;
-
-  public void Lancer(Lanceur lanceur) {
+  GenericEntry force1;
+  
+  /** Creates a new Force1. */
+  public Force1(Lanceur lanceur, GenericEntry force1) {
     this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur);
+    this.force1 = force1; 
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0,0,0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 100);
-      lanceur.lancer(200);
-    if (lanceur.vitesse() > vitesse ){
-       if(accumulateur.tourneavant() < 1024){
-        accumulateur.Deaccumuler();
-      }
-      if(accumulateur.tournearriere()<-256){
-        accumulateur.reaccumuler();
-         }
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
+    lanceur.lancer(force1.getDouble(0));
+  
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
 }

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

@@ -2,57 +2,42 @@
 // 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.
 
-// 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 frc.robot.subsystems.Accumulateur;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force2 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
 
-  public void Lancer(Lanceur lanceur) {
+  /** Creates a new Force1. */
+  public Force2(Lanceur lancer) {
     this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur);
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0,0,0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
-      lanceur.lancer(200);
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
+    lanceur.lancer(500);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
-}
+}

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

@@ -9,6 +9,8 @@
 package frc.robot.commands;
 import frc.robot.subsystems.Accumulateur;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
@@ -20,7 +22,15 @@ public class Force3 extends CommandBase {
   public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
     this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur , accumulateur);}
+ 
+  GenericEntry force3;
+  /** Creates a new Force1. */
+  public Force3(Lanceur lanceur,GenericEntry force3) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    this.force3 = force3; 
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
@@ -32,27 +42,14 @@ public class Force3 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+
     double vitesse = SmartDashboard.getNumber("Force Lanceur", 300);
       lanceur.lancer(200);
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
+    lanceur.lancer(force3.getDouble(0));}
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
     }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return lanceur.distance()>1;
+    @Override
+    public boolean isFinished() {
+      return false;
+    }
   }
-}

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

@@ -5,6 +5,8 @@
 package frc.robot.commands;
 import frc.robot.subsystems.Accumulateur;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
@@ -16,7 +18,14 @@ public class Force4 extends CommandBase {
   public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
     this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur , accumulateur);}
+  GenericEntry force4;
+  /** Creates a new Force1. */
+  public Force4(Lanceur lanceur,GenericEntry force4) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    this.force4 = force4; 
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
@@ -37,6 +46,7 @@ public class Force4 extends CommandBase {
         accumulateur.stop();
       }
       
+    lanceur.lancer(force4.getDouble(0));
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,6 +5,8 @@
 package frc.robot.commands;
 import frc.robot.subsystems.Accumulateur;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
@@ -16,7 +18,14 @@ public class Force5 extends CommandBase {
   public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
     this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur , accumulateur);}
+  GenericEntry force5;
+  /** Creates a new Force1. */
+  public Force5(Lanceur lanceur,GenericEntry force5) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    this.force5 = force5; 
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
@@ -37,6 +46,7 @@ public class Force5 extends CommandBase {
         accumulateur.stop();
       }
       
+    lanceur.lancer(force5.getDouble(0));
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,6 +5,8 @@
 package frc.robot.commands;
 import frc.robot.subsystems.Accumulateur;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
@@ -18,6 +20,14 @@ public class Force6 extends CommandBase {
     this.accumulateur = accumulateur;
     addRequirements(lanceur , accumulateur);
   }
+  GenericEntry force6;
+  /** Creates a new Force1. */
+  public Force6(Lanceur lanceur, GenericEntry force6) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    this.force6 = force6;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
 
   // Called when the command is initially scheduled.
   @Override
@@ -37,6 +47,7 @@ public class Force6 extends CommandBase {
         accumulateur.stop();
       }
       
+    lanceur.lancer(force6.getDouble(0));
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,6 +5,8 @@
 package frc.robot.commands;
 import frc.robot.subsystems.Accumulateur;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
@@ -16,7 +18,14 @@ public class Force7 extends CommandBase {
   public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
     this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur , accumulateur);}
+  GenericEntry force7;
+  /** Creates a new Force1. */
+  public Force7(Lanceur lanceur,GenericEntry force7) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    this.force7 = force7; 
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
@@ -37,6 +46,7 @@ public class Force7 extends CommandBase {
         accumulateur.stop();
       }
       
+    lanceur.lancer(force7.getDouble(0));
   }
 
   // Called once the command ends or is interrupted.

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

@@ -6,14 +6,14 @@ package frc.robot.subsystems;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Lanceur extends SubsystemBase {
-
-  final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   
   public Lanceur(){}
+  final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); 
 
   public void lancer(double vitesse){
     lanceur.set(vitesse);