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

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

@@ -0,0 +1,54 @@
+// 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.Limelight3G;
+
+public class FollowAprilTag extends Command {
+
+  private Limelight3G enlignement;
+  private Drive drive;
+  /** Creates a new Limelight3g. */
+  public FollowAprilTag(Limelight3G enlignement, Drive drive) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.drive = drive;
+    this.enlignement = enlignement;
+
+    addRequirements(drive, 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)
+    {
+      drive.drive(0, 0, enlignement.getx()/30);
+    }
+    else
+    {
+      drive.drive(0, 0, 0);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -5,6 +5,10 @@
 package frc.robot.Subsystems;
 
 
+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;
 
 
@@ -12,15 +16,35 @@ 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);
+  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/Limelight.java

@@ -1,28 +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.Subsystems;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-public class Limelight extends SubsystemBase {
-NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
-NetworkTableEntry tx = table.getEntry("tx");
-NetworkTableEntry ty = table.getEntry("ty");
-NetworkTableEntry ta = table.getEntry("ta");
-
-//read values periodically
-double x = tx.getDouble(0.0);
-double y = ty.getDouble(0.0);
-double area = ta.getDouble(0.0);
-  /** Creates a new Limelight. */
-  public Limelight() {}
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

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
+  }
+}