Force 1 á 7

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

@@ -11,12 +11,11 @@ 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.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.Avancer;
+import frc.robot.commands.Force1;
 //import frc.robot.commands.Lancer;
-import frc.robot.commands.LancerTest;
 import frc.robot.commands.Force2;
 import frc.robot.commands.Force3;
 import frc.robot.commands.Force4;
@@ -61,20 +60,26 @@ public class RobotContainer {
   private void configureBindings() {
 
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
-  LancerTest lancertest = new LancerTest(lanceur);
-   // joystick1.button(7).onTrue(new Lancer(lanceur, accumulateur, force1));
-   /* joystick1.button(8).onTrue(new Lancer(lanceur, accumulateur, force2));
-    joystick1.button(9).onTrue(new Lancer(lanceur, accumulateur, force3));
-    joystick1.button(10).onTrue(new Lancer(lanceur, accumulateur, force4));
-    joystick1.button(11).onTrue(new Lancer(lanceur, accumulateur, force5)); 
-    joystick1.button(12).onTrue(new Lancer(lanceur, accumulateur, force6));*/
-   // joystick1.button(3).onTrue(new Lancer(lanceur, accumulateur, force7));
-    joystick1.button(5).whileTrue(accumulateurtest);
-    joystick1.button(1).whileTrue(lancertest);
+  Force1 Force1 = new Force1(lanceur, force1);
+  Force2 Force2 = new Force2(lanceur, force2);
+  Force3 Force3 = new Force3(lanceur, force3);
+  Force4 Force4 = new Force4(lanceur, force4);
+  Force5 Force5 = new Force5(lanceur, force5);
+  Force6 Force6 = new Force6(lanceur, force6);
+  Force7 Force7 = new Force7(lanceur, force7);
 
+  //touche
+
+    joystick1.button(3).whileTrue(accumulateurtest);
+    joystick1.button(1).whileTrue(Force1);
+    joystick1.button(7).whileTrue(Force2);
+    joystick1.button(8).whileTrue(Force3);
+    joystick1.button(9).whileTrue(Force4);
+    joystick1.button(10).whileTrue(Force5);
+    joystick1.button(11).whileTrue(Force6);
+    joystick1.button(12).whileTrue(Force7);
   }
 
- 
    public Command getAutonomousCommand() {
     return null;
     /* new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)

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

@@ -4,13 +4,14 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
-public class LancerTest extends CommandBase {
+public class Force1 extends CommandBase {
   private Lanceur lanceur;
   /** Creates a new LancerTest. */
-  public LancerTest(Lanceur lanceur) {
+  public Force1(Lanceur lanceur, GenericEntry force1) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -25,7 +26,7 @@ public class LancerTest extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(0.5);
+    lanceur.lancer(0.3);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Force2.java

@@ -6,39 +6,27 @@ 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 Force2 extends CommandBase {
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force2;
-  /** Creates a new Force1. */
-  public Force2(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force2) {
+  /** Creates a new LancerTest. */
+  public Force2(Lanceur lanceur, GenericEntry force2) {
     this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
-    addRequirements(lanceur, accumulateur);
-    this.force2 = force2;
+    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() {
-    double vitesse = (200);
-    lanceur.lancer(force2.getDouble(200));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
+    lanceur.lancer(0.35);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Force3.java

@@ -2,52 +2,40 @@
 // 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.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force3 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force3;
-  
-  /** Creates a new Force1. */
-  public Force3(Lanceur lanceur,GenericEntry force3, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force3(Lanceur lanceur, GenericEntry force3) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force3 = force3; 
-    this.accumulateur = accumulateur;
+    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() {
+    lanceur.lancer(0.4);
+  }
 
-    double vitesse = (300);
-    lanceur.lancer(force3.getDouble(300));
-      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);
   }
+
+  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
     return false;

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

@@ -3,59 +3,41 @@
 // 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.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force4 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force4;
-  
-  /** Creates a new Force1. */
-  public Force4(Lanceur lanceur,GenericEntry force4, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force4(Lanceur lanceur, GenericEntry force4) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force4 = force4; 
-    this.accumulateur = accumulateur;
+    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() {
-    double vitesse = (400);
-      lanceur.lancer(force4.getDouble(400));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-    
+    lanceur.lancer(0.45);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
+    lanceur.lancer(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
 }

src/main/java/frc/robot/commands/Force5.java

@@ -3,59 +3,41 @@
 // 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.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force5 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force5;
-  
-  /** Creates a new Force1. */
-  public Force5(Lanceur lanceur,GenericEntry force5, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force5(Lanceur lanceur, GenericEntry force5) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force5 = force5; 
-    this.accumulateur = accumulateur;
+    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() {
-    double vitesse = (500);
-      lanceur.lancer(force5.getDouble(500));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-    
+    lanceur.lancer(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
+    lanceur.lancer(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
 }

src/main/java/frc/robot/commands/Force6.java

@@ -3,58 +3,41 @@
 // 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.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force6 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force6;
-  
-  
-  /** Creates a new Force1. */
-  public Force6(Lanceur lanceur, GenericEntry force6, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force6(Lanceur lanceur, GenericEntry force6) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force6 = force6;
-    this.accumulateur = accumulateur;
+    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() {
-    double vitesse = (600);
-      lanceur.lancer(force6.getDouble(600));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-    
+    lanceur.lancer(0.55);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
+    lanceur.lancer(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
 }

src/main/java/frc/robot/commands/Force7.java

@@ -3,56 +3,41 @@
 // 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.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force7 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force7;
-   
-  /** Creates a new Force1. */
-  public Force7(Lanceur lanceur,GenericEntry force7, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force7(Lanceur lanceur, GenericEntry force7) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force7 = force7; 
-    this.accumulateur = accumulateur;
+    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() {
-    double vitesse = (700);
-      lanceur.lancer(force7.getDouble(700));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
+    lanceur.lancer(0.6);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
+    lanceur.lancer(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
 }