Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

src/main/java/frc/robot/Commands/Desaccumuler.java

@@ -19,7 +19,7 @@ public class Desaccumuler extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    accumulateur.resetencodeur();
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/Commands/FollowAprilTag.java

@@ -0,0 +1,55 @@
+// 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.Command;
+import frc.robot.Subsystems.Drive;
+import frc.robot.Subsystems.Lanceur;
+import frc.robot.Subsystems.Limelight3G;
+
+public class FollowAprilTag extends Command {
+
+  private Limelight3G enlignement;
+  private Lanceur lanceur;
+  /** Creates a new Limelight3g. */
+  public FollowAprilTag(Limelight3G enlignement, Lanceur lanceur) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.lanceur = lanceur;
+    this.enlignement = enlignement;
+
+    addRequirements(lanceur, enlignement);
+  }
+
+  // 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() {
+
+    if (enlignement.getv()==1)
+    {
+      lanceur.tourelRotation(0,0, enlignement.getx()/30);
+    }
+    else
+    {
+      lanceur.tourelRotation(0, 0, 0);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.tourelRotation(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -19,7 +19,7 @@ public class Lancer extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.PIDlanceur(0, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -4,11 +4,20 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
 public class RobotContainer {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   public RobotContainer() {
+    dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(0,0);
+    dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(3,0);  
     configureBindings();
   }
 

src/main/java/frc/robot/Subsystems/Accumulateur.java

@@ -4,23 +4,47 @@
 
 package frc.robot.Subsystems;
 
-import edu.wpi.first.wpilibj.Encoder;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
   /** Creates a new Accumulateur. */
-  public Accumulateur() {}
+  public Accumulateur() {dashboard.addBoolean("photocellacc", this::limitswitch)
+    .withSize(1, 1)
+    .withPosition(0, 1);
+   
+    }
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  
+  private GenericEntry vitesse =
+      dashboard.add("vitesseacc", 0.1)
+      .withSize(1, 1)
+      .withPosition(0, 4)
+      .getEntry(); 
+      
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
-  Encoder encoder = new Encoder(1,0);
-  public void resetencodeur(){
-    encoder.reset();
+  final DigitalInput photocell = new DigitalInput(94);
+  public void encodeur(){
+  }
+  public boolean limitswitch(){
+    return !photocell.get();
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);
     accumulateur2.set(-vitesse);
   }
+  public void desaccumule(){
+    desaccumule(vitesse.getDouble(0.9));
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -6,11 +6,13 @@ package frc.robot.Subsystems;
 
 
 
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-import edu.wpi.first.wpilibj.Encoder;
+
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -20,19 +22,30 @@ public class Lanceur extends SubsystemBase {
   
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
-  final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
-  Encoder encoder = new Encoder(0, 1);
+  final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
   public void encodeur(double distance){
-    encoder.setDistancePerPulse(distance);
+    lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+    
+  }
+  public void masterslave(){
+    lanceur2.follow(lanceur1);
+    lanceur2.setInverted(true);
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);
-    lanceur2.set(-vitesse);
   }
-  public void tourelRotation(double vitesse){
-    tourel.set(vitesse);
+  public void tourelRotation(double x, double y, double rotation){
+    tourelle.set(rotation);
   }
-  public void setPID(double p, double i, int d) {
+  public double distancetourel(){
+    return(tourelle.getEncoder().getPosition());
+  }
+  public void PIDlanceur(double p, double i, double d) {
+   lanceur1.config_kP(0, p);
+   lanceur1.config_kI(0, i);
+   lanceur1.config_kD(0, d);
   }
   @Override
   public void periodic() {

src/main/java/frc/robot/Subsystems/Limelight3G.java

@@ -0,0 +1,48 @@
+// 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.Subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+public class Limelight3G extends SubsystemBase {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
+
+  NetworkTableEntry tx = table.getEntry("tx");
+  NetworkTableEntry ty = table.getEntry("ty");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  NetworkTableEntry tv = table.getEntry("tv");
+  NetworkTableEntry camMode = table.getEntry("camMode");
+  NetworkTableEntry tid = table.getEntry("tid");
+  /** Creates a new Limelight. */
+  public Limelight3G() {
+    for (int port = 5800; port <= 5807; port++) {
+      PortForwarder.add(port, "limelight.local", port);
+  }}
+  public  double getx(){
+    return tx.getDouble(0); 
+  }
+  public double gety(){
+    return ty.getDouble(0);
+  }
+  public double getv(){
+    return tv.getDouble(0);
+  }
+  public void setpipeline(){
+     pipeline.setNumber(0);
+  }
+  public void setcamMode(){
+    camMode.setNumber(0);
+  }
+  public double getTid(){
+    return tid.getDouble(0);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}