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

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

@@ -11,7 +11,9 @@ 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;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Avancer;
@@ -23,6 +25,7 @@ import frc.robot.commands.Force4;
 import frc.robot.commands.Force5;
 import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
+import frc.robot.commands.Force1;
 import frc.robot.commands.Reculer;
 import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
@@ -36,7 +39,10 @@ public class RobotContainer {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
   .getLayout("forces", BuiltInLayouts.kList)
-  .withSize(3, 7);
+  .withSize(1, 7)
+  .withPosition(1, 0)
+  .withSize(1, 7);
+  
   GenericEntry force1 = forces.add("Force1", 2).getEntry();
   GenericEntry force2 = forces.add("Force2", 4).getEntry();
   GenericEntry force3 = forces.add("Force3", 6).getEntry();
@@ -79,10 +85,10 @@ public class RobotContainer {
     joystick1.button(12).whileTrue(Force7);
   }
   
-   public Command getAutonomousCommand() {
-    return null;
-    /* new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
-    , new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
- */ }
+ 
+  public Command getAutonomousCommand() {
+    return new SequentialCommandGroup(new ParallelCommandGroup(new Force1(lanceur).withTimeout(5),new accumulateurtest(accumulateur).withTimeout(5))
+    ,new Avancer(drive));
+  }
 }
 

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

@@ -16,7 +16,8 @@ public class Avancer extends CommandBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
   .getLayout("Avancer", BuiltInLayouts.kList)
-  .withSize(3, 3);
+  .withSize(1, 4)
+  .withPosition(4, 0);
   /** Creates a new Avancer. */
   public Avancer(Drive drive) {
     avancer.add("vitesse x", 1);

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

@@ -5,13 +5,18 @@
 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 Force1 extends CommandBase {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+
   private Lanceur lanceur;
   /** Creates a new LancerTest. */
-  public Force1(Lanceur lanceur, GenericEntry force1) {
+  public Force1(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/commands/Reculer.java

@@ -16,7 +16,8 @@ public class Reculer extends CommandBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
   .getLayout("Reculer", BuiltInLayouts.kList)
-  .withSize(3, 3);
+  .withSize(1, 4)
+   .withPosition(6,0);
   /** Creates a new Reculer. */
   public Reculer(Drive drive) {
     reculer.add("vitesse x", 1);

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

@@ -7,17 +7,47 @@ package frc.robot.subsystems;
 import java.io.File;
 import java.io.IOException;
 
+import edu.wpi.first.cameraserver.CameraServer;
 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.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+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");
+  ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Avancer", BuiltInLayouts.kList)
+  .withSize(1, 4)
+  .withPosition(4, 0);
+  ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Reculer", BuiltInLayouts.kList)
+  .withSize(1, 4)
+  .withPosition(3,0);
   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);
   }
@@ -26,6 +56,14 @@ public class Drive extends SubsystemBase {
 
   /** Creates a new Drive. */
   public Drive() {
+    reculer.add("vitesse x", 1);
+    reculer.add("vitesse y", 2);
+    reculer.add("vitesse z", 3);
+    reculer.add("distance", 4);
+    avancer.add("vitesse x", 1);
+    avancer.add("vitesse y", 2);
+    avancer.add("vitesse z", 3);
+    avancer.add("distance", 4);
     try {
       this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
     } catch (IOException e) {
@@ -36,6 +74,9 @@ public class Drive extends SubsystemBase {
   public SwerveModulePosition[] distance(){
     return swerveDrive.getModulePositions();
   }
+public void reset(){
+
+}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -7,6 +7,7 @@ package frc.robot.subsystems;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
@@ -18,14 +19,16 @@ public class Lanceur extends SubsystemBase {
   ShuffleboardTab dash2 = Shuffleboard.getTab("Dashboard2.0");
   
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
-  //ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
-  //.getLayout("Pid", BuiltInLayouts.kList)
-  //.withSize(3, 7);
+  ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
+  .getLayout("Pid", BuiltInLayouts.kList)
+  .withSize(1, 3)
+  .withPosition(0, 0);
+  private GenericEntry p = pid.add("p", 1).getEntry();
+  
   public Lanceur(){
-    dash2.add("test", 1); 
-    dashboard.add("p", 1);
-    dashboard.add("i", 2);
-    dashboard.add("d", 3);
+    double P = p.getDouble(1.0);
+    pid.add("i", 2).getEntry();
+    pid.add("d", 3).getEntry();
   }
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);