fchb

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

@@ -15,7 +15,7 @@ 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.Avancer;
-import frc.robot.commands.Force1;
+import frc.robot.commands.Lancer;
 import frc.robot.commands.Force2;
 import frc.robot.commands.Force3;
 import frc.robot.commands.Force4;
@@ -38,7 +38,7 @@ public class RobotContainer {
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
   .getLayout("Dashboard", BuiltInLayouts.kList)
   .withSize(3, 7);
-  GenericEntry force1 = forces.add("Force1", 0).getEntry();
+  GenericEntry force1 = forces.add("Force1", 2).getEntry();
   GenericEntry force2 = forces.add("Force2", 0).getEntry();
   GenericEntry force3 = forces.add("Force3", 0).getEntry();
   GenericEntry force4 = forces.add("Force4", 0).getEntry();
@@ -58,27 +58,21 @@ public class RobotContainer {
   }
   
   private void configureBindings() {
-    Force1 Force1 = new Force1(lanceur, accumulateur, null);
+
-  Force2 Force2 = new Force2(lanceur, accumulateur, null);
-  Force3 Force3 = new Force3(lanceur, null, accumulateur);
-  Force4 Force4 = new Force4(lanceur, null, accumulateur);
-  Force5 Force5 = new Force5(lanceur, null, accumulateur);
-  Force6 Force6 = new Force6(lanceur, null, accumulateur);
-  Force7 Force7 = new Force7(lanceur, null, accumulateur);
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
-    joystick1.button(7).onTrue(Force1);
+    joystick1.button(7).onTrue(new Lancer(lanceur, accumulateur, force1));
-    joystick1.button(8).onTrue(Force2);
+    joystick1.button(8).onTrue(new Lancer(lanceur, accumulateur, force2));
-    joystick1.button(9).onTrue(Force3);
+    joystick1.button(9).onTrue(new Lancer(lanceur, accumulateur, force3));
-    joystick1.button(10).onTrue(Force4);
+    joystick1.button(10).onTrue(new Lancer(lanceur, accumulateur, force4));
-    joystick1.button(11).onTrue(Force5); 
+    joystick1.button(11).onTrue(new Lancer(lanceur, accumulateur, force5)); 
-    joystick1.button(12).onTrue(Force6);
+    joystick1.button(12).onTrue(new Lancer(lanceur, accumulateur, force6));
-    joystick1.button(3).onTrue(Force7);
+    joystick1.button(3).onTrue(new Lancer(lanceur, accumulateur, force7));
     joystick1.button(5).toggleOnTrue(accumulateurtest);
     
   }
  
   public Command getAutonomousCommand() {
     return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
-    , new Force1(lanceur, accumulateur, force1), new Reculer(drive));
+    , new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
   }
 }

src/main/java/frc/robot/commands/AccAvancer.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 AccAvancer extends CommandBase {
+  private Accumulateur accumulateur;
+  /** Creates a new AccAvancer. */
+  public AccAvancer(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.Deaccumuler();
+  }
+
+  // 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 accumulateur.tourneavant()<1024;
+  }
+}

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

@@ -0,0 +1,40 @@
+// 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 AccReculer extends CommandBase {
+  private Accumulateur accumulateur;
+  /** Creates a new AccReculer. */
+  public AccReculer(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 accumulateur.tournearriere()<-256;
+  }
+}

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

@@ -0,0 +1,34 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
+import frc.robot.subsystems.Accumulateur;
+import frc.robot.subsystems.Lanceur;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class Lancer extends ParallelCommandGroup {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+  
+  /** Creates a new Force1. */
+  public Lancer(Lanceur lanceur,Accumulateur accumulateur,GenericEntry vitesse) {
+    this.lanceur = lanceur;
+    this.accumulateur = accumulateur;
+
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(new Lancez(lanceur),
+    new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(0)))
+    ,new AccAvancer(accumulateur),new AccReculer(accumulateur));
+  }
+}

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

@@ -4,23 +4,16 @@
 
 package frc.robot.commands;
 
-
-import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
-public class Force1 extends CommandBase {
+public class Lancez extends CommandBase {
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
+  /** Creates a new Lancez. */
-  GenericEntry force1;
+  public Lancez(Lanceur lanceur) {
-  
-  /** Creates a new Force1. */
-  public Force1(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force1) {
     this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
+    addRequirements(lanceur);
-    addRequirements(lanceur, accumulateur);
-    this.force1 = force1; 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,26 +26,13 @@ public class Force1 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(force1.getDouble(100));
+    lanceur.lancer(0);
-    double vitesse = (100);
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-       if(accumulateur.tourneavant()>1024) {
-        accumulateur.tournearriere();
   }
-    if(accumulateur.tournearriere()>-256){
-      accumulateur.stop();
-    }
-  }}
-      
-  
-  
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     lanceur.lancer(0);
-    accumulateur.stop();
   }
 
   // Returns true when the command should end.