Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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

@@ -36,7 +36,7 @@ public class RobotContainer {
 
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
-  .getLayout("Dashboard", BuiltInLayouts.kList)
+  .getLayout("forces", BuiltInLayouts.kList)
   .withSize(3, 7);
   GenericEntry force1 = forces.add("Force1", 2).getEntry();
   GenericEntry force2 = forces.add("Force2", 0).getEntry();
@@ -76,3 +76,5 @@ public class RobotContainer {
     , new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
   }
 }
+   /* return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
+    , new Force1(lanceur, accumulateur, force1), new Reculer(drive));*/

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

@@ -4,13 +4,25 @@
 
 package frc.robot.commands;
 
+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.CommandBase;
 import frc.robot.subsystems.Drive;
 
 public class Avancer extends CommandBase {
   private Drive drive;
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Avancer", BuiltInLayouts.kList)
+  .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);
     this.drive = drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.

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

@@ -43,7 +43,7 @@ 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

@@ -43,7 +43,7 @@ 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

@@ -42,7 +42,7 @@ 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

@@ -41,7 +41,6 @@ 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/commands/Lancez.java

@@ -29,6 +29,9 @@ public class Lancez extends CommandBase {
     lanceur.lancer(0);
   }
       
+  
+  
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {

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

@@ -4,13 +4,25 @@
 
 package frc.robot.commands;
 
+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.CommandBase;
 import frc.robot.subsystems.Drive;
 
 public class Reculer extends CommandBase {
   private Drive drive;
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Reculer", BuiltInLayouts.kList)
+  .withSize(3, 3);
   /** Creates a new Reculer. */
   public Reculer(Drive drive) {
+    reculer.add("vitesse x", 1);
+    reculer.add("vitesse y", 2);
+    reculer.add("vitesse z", 3);
+    reculer.add("distance", 4);
     this.drive = drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.

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

@@ -7,12 +7,23 @@ package frc.robot.subsystems;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+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;
 
 public class Lanceur extends SubsystemBase {
-  
-  public Lanceur(){}
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
+  .getLayout("Pid", BuiltInLayouts.kList)
+  .withSize(3, 7);
+  public Lanceur(){
+    pid.add("p", 1);
+    pid.add("i", 2);
+    pid.add("d", 3);
+  }
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); 
 
   public void lancer(double vitesse){