From 6d9373c990bd5e12b39f8fb33ce5fd59801063ab Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 6 Nov 2023 19:07:23 -0500
Subject: [PATCH] Changer Force 1 a 7

---
 src/main/java/frc/robot/commands/Force1.java  | 34 +++++++++-----
 src/main/java/frc/robot/commands/Force2.java  | 39 +++++++++++-----
 src/main/java/frc/robot/commands/Force3.java  | 39 +++++++++++-----
 src/main/java/frc/robot/commands/Force4.java  | 35 ++++++++++-----
 src/main/java/frc/robot/commands/Force5.java  | 35 ++++++++++-----
 src/main/java/frc/robot/commands/Force6.java  | 35 ++++++++++-----
 src/main/java/frc/robot/commands/Force7.java  | 35 ++++++++++-----
 src/main/java/frc/robot/commands/Lancer.java  | 44 -------------------
 .../frc/robot/subsystems/Accumulateur.java    | 14 +++++-
 .../java/frc/robot/subsystems/Lanceur.java    | 12 +++--
 10 files changed, 185 insertions(+), 137 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/Lancer.java

diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java
index 6878de5..bd7a893 100644
--- a/src/main/java/frc/robot/commands/Force1.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -3,42 +3,52 @@
 // 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 Force1 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force1(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
-  
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 100);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
 }
diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java
index 2a2a890..23ff4fa 100644
--- a/src/main/java/frc/robot/commands/Force2.java
+++ b/src/main/java/frc/robot/commands/Force2.java
@@ -2,42 +2,57 @@
 // 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;
 
-  /** Creates a new Force1. */
-  public Force2(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java
index a98dcd8..d187be3 100644
--- a/src/main/java/frc/robot/commands/Force3.java
+++ b/src/main/java/frc/robot/commands/Force3.java
@@ -2,42 +2,57 @@
 // 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 Force3 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force3(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
+    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
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java
index 6aba602..056b8dc 100644
--- a/src/main/java/frc/robot/commands/Force4.java
+++ b/src/main/java/frc/robot/commands/Force4.java
@@ -3,41 +3,52 @@
 // 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 Force4 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force4(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 400);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java
index 66a2a35..bc8ec1b 100644
--- a/src/main/java/frc/robot/commands/Force5.java
+++ b/src/main/java/frc/robot/commands/Force5.java
@@ -3,41 +3,52 @@
 // 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 Force5 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force5(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 500);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java
index e5c3fa6..9cc2f04 100644
--- a/src/main/java/frc/robot/commands/Force6.java
+++ b/src/main/java/frc/robot/commands/Force6.java
@@ -3,41 +3,52 @@
 // 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 Force6 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force6(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 600);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java
index ceb88d9..3ed4970 100644
--- a/src/main/java/frc/robot/commands/Force7.java
+++ b/src/main/java/frc/robot/commands/Force7.java
@@ -3,41 +3,52 @@
 // 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 Force7 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force7(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // 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() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 700);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
deleted file mode 100644
index efecd99..0000000
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ /dev/null
@@ -1,44 +0,0 @@
-// 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 Lancer extends CommandBase {
-
-  private Lanceur lanceur;
-
-  /** Creates a new Lancer. */
-  public Lancer(Lanceur lanceur) {
-    this.lanceur = lanceur;
-    addRequirements(lanceur);
-  }
-
-  // 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() {
-
-    lanceur.lancer(0);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    lanceur.lancer(0);  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return lanceur.distance()>1;
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/Accumulateur.java b/src/main/java/frc/robot/subsystems/Accumulateur.java
index 8d753d3..91b6f8a 100644
--- a/src/main/java/frc/robot/subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystems/Accumulateur.java
@@ -21,9 +21,19 @@ public class Accumulateur extends SubsystemBase {
   public void Deaccumuler(){
     moteuracc.set(0.5);
   }
+
+  public double tourneavant(){
+    moteuracc.set(0.5);
+    return(moteuracc.getSelectedSensorPosition());
+  }
+
+  public double tournearriere(){
+    moteuracc.set(-0.5);
+    return(moteuracc.getSelectedSensorPosition());
+  }
   
-   public boolean limit(){
-    return limitacc.get();
+  public void stop(){
+    moteuracc.set(0);
   }
 
    public double distance() {
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index d8d4344..ccdb0f8 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -13,26 +13,24 @@ public class Lanceur extends SubsystemBase {
 
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   
-  public Lanceur() {}
+  public Lanceur(){}
 
   public void lancer(double vitesse){
     lanceur.set(vitesse);
   }
+    public double vitesse(){
+      return(lanceur.getEncoder().getVelocity());
+    }
 
-
-
-  // encodeur
+   // encodeur
   public double distance() {
     return(lanceur.getEncoder().getPosition());
-
   }
     public void Reset() {
       lanceur.getEncoder().setPosition(0);
-  
     }
 
     public void stop() {
-      
     }
 
   @Override