mode auto + modif

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

@@ -11,11 +11,13 @@ 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.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.AccAuto;
 import frc.robot.commands.Avancer;
 import frc.robot.commands.Force1;
 //import frc.robot.commands.Lancer;
@@ -25,6 +27,7 @@ import frc.robot.commands.Force4;
 import frc.robot.commands.Force5;
 import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
+import frc.robot.commands.LanceurAuto;
 import frc.robot.commands.Force1;
 import frc.robot.commands.Reculer;
 import frc.robot.commands.accumulateurtest;
@@ -35,7 +38,8 @@ import frc.robot.subsystems.Lanceur;
 public class RobotContainer {
   Lanceur lanceur = new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
-  
+  Drive drive = new Drive();
+  Avancer avancer = new Avancer(drive);
   
 
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
@@ -53,7 +57,6 @@ public class RobotContainer {
 
   CommandXboxController manette = new CommandXboxController(0);
   CommandJoystick joystick1 = new CommandJoystick(0);
-  Drive drive = new Drive();
   public RobotContainer() {
     
     configureBindings();
@@ -87,8 +90,10 @@ public class RobotContainer {
   
  
   public Command getAutonomousCommand() {
-    return new SequentialCommandGroup(new ParallelCommandGroup(new Force1(lanceur).withTimeout(5),new accumulateurtest(accumulateur).withTimeout(5))
-    ,new Avancer(drive));
+    return Commands.deadline(Commands.waitSeconds(12)
+    ,new SequentialCommandGroup(new ParallelCommandGroup(new LanceurAuto(lanceur).withTimeout(6)
+    ,new AccAuto(accumulateur).withTimeout(6))
+    )).andThen(avancer);
   }
 }
 

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

@@ -0,0 +1,41 @@
+// 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.CommandBase;
+import frc.robot.subsystems.Accumulateur;
+
+public class AccAuto extends CommandBase {
+  private Accumulateur accumulateur;
+  /** Creates a new AccAuto. */
+  public AccAuto(Accumulateur accumulateur) {
+    this.accumulateur = accumulateur;
+    addRequirements(accumulateur);
+    // 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() {
+    accumulateur.reaccumuler();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    accumulateur.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -19,10 +19,10 @@ public class Avancer extends CommandBase {
   .withSize(3, 3);
   /** Creates a new Avancer. */
   public Avancer(Drive drive) {
-    avancer.add("vitesse x", 1);
-    avancer.add("vitesse y", 2);
-    avancer.add("vitesse z", 3);
-    avancer.add("distance", 4);
+    //avancer.add("vitesse x", 1);
+   // avancer.add("vitesse y", 2);
+  //  avancer.add("vitesse z", 3);
+   // avancer.add("distance", 4);
     this.drive = drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -37,16 +37,18 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-   drive.drive(0.5, 0.2, 0);
+   drive.drive(0.5, -0.2, 0);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drive.drive(0, 0, 0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return drive.distance()[0].distanceMeters>1;
+    return drive.distance()[0].distanceMeters>0.01;
   }
 }

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

@@ -15,7 +15,7 @@ public class Force1 extends CommandBase {
 
   private Lanceur lanceur;
   /** Creates a new LancerTest. */
-  public Force1(Lanceur lanceur, g) {
+  public Force1(Lanceur lanceur, GenericEntry force1) {
     dashboard.add("vitesse lanceur", 0.5);
     this.lanceur = lanceur;
     addRequirements(lanceur);

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

@@ -12,22 +12,26 @@ public class LanceurAuto extends CommandBase {
   /** Creates a new LanceurAuto. */
   public LanceurAuto(Lanceur lanceur) {
     this.lanceur = lanceur;
+    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(0.000000000000075572, 0, 0);}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    lanceur.lancer(0.6);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override