cvbn

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

@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
@@ -10,6 +11,7 @@ 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.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
@@ -39,6 +41,7 @@ public class RobotContainer {
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
   .getLayout("forces", BuiltInLayouts.kList)
   .withSize(3, 7);
+  
   GenericEntry force1 = forces.add("Force1", 2).getEntry();
   GenericEntry force2 = forces.add("Force2", 4).getEntry();
   GenericEntry force3 = forces.add("Force3", 6).getEntry();
@@ -76,9 +79,8 @@ public class RobotContainer {
   
  
   public Command getAutonomousCommand() {
-    return null;
-    /* new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
-    , new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
- */ }
+    return new SequentialCommandGroup(new ParallelCommandGroup(new LancerTest(lanceur).withTimeout(5),new accumulateurtest(accumulateur).withTimeout(5))
+    ,new Avancer(drive));
+  }
 }
 

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

@@ -4,13 +4,19 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class LancerTest extends CommandBase {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+
   private Lanceur lanceur;
   /** Creates a new LancerTest. */
   public LancerTest(Lanceur lanceur) {
+    dashboard.add("vitesse lanceur", 0.5);
     this.lanceur = lanceur;
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.

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

@@ -0,0 +1,37 @@
+// 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.Lanceur;
+
+public class LanceurAuto extends CommandBase {
+ private Lanceur lanceur;
+  /** Creates a new LanceurAuto. */
+  public LanceurAuto(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lanceur.setPID(0, 0, 0);
+  }
+
+  // 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) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -7,17 +7,32 @@ package frc.robot.subsystems;
 import java.io.File;
 import java.io.IOException;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 import swervelib.SwerveDrive;
+import swervelib.encoders.CanAndCoderSwerve;
 import swervelib.parser.SwerveParser;
 
 public class Drive extends SubsystemBase {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   SwerveDrive swerveDrive;
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
- 
+ /*  final CanAndCoderSwerve avantdroitdrive = new CanAndCoderSwerve(Constants.avantdroitDrive); 
+  final CanAndCoderSwerve avantgauchedrive = new CanAndCoderSwerve(Constants.avantgaucheDrive); 
+  final CanAndCoderSwerve arrieregauchedrive = new CanAndCoderSwerve(Constants.arrieregaucheDrive); 
+  final CanAndCoderSwerve arrieredroitdrive = new CanAndCoderSwerve(Constants.arrieredroitDrive); 
+  final CanAndCoderSwerve avantdroitangle = new CanAndCoderSwerve(Constants.avantdroitAngle); 
+  final CanAndCoderSwerve avantgaucheangle = new CanAndCoderSwerve(Constants.avantgaucheAngle); 
+  final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle); 
+  final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
   public void drive(double x, double y, double zRotation){
     swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
   }
@@ -25,6 +40,7 @@ public class Drive extends SubsystemBase {
 
   /** Creates a new Drive. */
   public Drive() {
+    
     try {
       this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
     } catch (IOException e) {
@@ -33,6 +49,9 @@ public class Drive extends SubsystemBase {
   }
    public SwerveModulePosition[] distance(){
     return swerveDrive.getModulePositions();
+  }
+public void reset(){
+
 }
   @Override
   public void periodic() {