test

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

@@ -4,7 +4,6 @@
 
 package frc.robot.Commands;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Subsystems.Accumulateur;
 import frc.robot.Subsystems.Lanceur;
 

src/main/java/frc/robot/Commands/LancerModeAuto.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.Commands;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.Subsystems.Accumulateur;
+import frc.robot.Subsystems.Lanceur;
+
+public class LancerModeAuto extends Command {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+  /** Creates a new Lancer. */
+  public LancerModeAuto(Lanceur lanceur,Accumulateur accumulateur) {
+    this.lanceur = lanceur;
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur, accumulateur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lanceur.PIDlanceur(0, 0, 0);
+  }
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.lance();
+    accumulateur.Petitlanceur(0.9);
+    accumulateur.desaccumule(0.2);
+    lanceur.masterslave();
+    accumulateur.rouesbleue(0.7);
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.lance(0);
+    accumulateur.desaccumule(0);
+    accumulateur.Petitlanceur(0);
+    accumulateur.rouesbleue(0);
+  }
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -10,20 +10,18 @@ import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 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.CommandXboxController;
 import frc.robot.Commands.Desaccumuler;
-import frc.robot.Commands.FollowAprilTag;
 import frc.robot.Commands.LEDactive;
 import frc.robot.Commands.Lancer;
+import frc.robot.Commands.LancerModeAuto;
 import frc.robot.Subsystems.Accumulateur;
 import frc.robot.Subsystems.CommandSwerveDrivetrain;
 import frc.robot.Subsystems.LED;
@@ -48,6 +46,33 @@ public class RobotContainer {
   private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
 
   private final Telemetry logger = new Telemetry(MaxSpeed);
+
+
+ // private final SendableChooser<Command> autoChooser;
+  Lanceur lanceur= new Lanceur();
+  Accumulateur accumulateur = new Accumulateur();
+  Limelight3G limelight3G = new Limelight3G();
+  LED led = new LED();
+  //Drive drive = new Drive();
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  
+  public RobotContainer() {
+  //  NamedCommands.registerCommand("lancer", lanceur.lance());
+    //autoChooser = AutoBuilder.buildAutoChooser();
+    dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(5,0);
+    dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(2,0);  
+    
+
+    manette.x().whileTrue(new Lancer(lanceur,accumulateur));
+    //manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
+    manette.a().whileTrue(new Desaccumuler(accumulateur));
+    manette.y().whileTrue(new LEDactive(accumulateur, led));
+    configureBindings();
+  }
  private void configureBindings() {
     drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
         drivetrain.applyRequest(() -> drive.withVelocityX(-manette.getLeftY() * MaxSpeed) // Drive forward with
@@ -67,34 +92,8 @@ public class RobotContainer {
     }
     drivetrain.registerTelemetry(logger::telemeterize);
   }
-
- // private final SendableChooser<Command> autoChooser;
-  Lanceur lanceur= new Lanceur();
-  Accumulateur accumulateur = new Accumulateur();
-  Limelight3G limelight3G = new Limelight3G();
-  LED led = new LED();
-  //Drive drive = new Drive();
-  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
-  
-  public RobotContainer() {
-   //NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
-   //NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
-   //autoChooser = AutoBuilder.buildAutoChooser();
-    dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
-    .withSize(3,4)
-    .withPosition(5,0);
-    dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
-    .withSize(3,4)
-    .withPosition(2,0);  
-    
-
-    manette.x().whileTrue(new Lancer(lanceur,accumulateur));
-    manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
-    manette.a().whileTrue(new Desaccumuler(accumulateur));
-    manette.y().whileTrue(new LEDactive(accumulateur, led));
-  }
   public Command getAutonomousCommand() {
-    return null;
+    return new SequentialCommandGroup(new LancerModeAuto(lanceur, accumulateur));
    // return autoChooser.getSelected();
   }
 }

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

@@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-
 /**
  * Class that extends the Phoenix SwerveDrivetrain class and implements
  * subsystem so it can be used in command-based projects easily.
@@ -31,20 +30,20 @@ public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsyst
     private final Rotation2d RedAlliancePerspectiveRotation = Rotation2d.fromDegrees(180);
     /* Keep track if we've ever applied the operator perspective before or not */
     private boolean hasAppliedOperatorPerspective = false;
-
     public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpdateFrequency, SwerveModuleConstants... modules) {
         super(driveTrainConstants, OdometryUpdateFrequency, modules);
         if (Utils.isSimulation()) {
             startSimThread();
         }
     }
+    
     public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
         super(driveTrainConstants, modules);
         if (Utils.isSimulation()) {
             startSimThread();
         }
     }
-
+    
     public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
         return run(() -> this.setControl(requestSupplier.get()));
     }
@@ -63,7 +62,7 @@ public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsyst
         });
         m_simNotifier.startPeriodic(kSimLoopPeriod);
     }
-
+    
     @Override
     public void periodic() {
         /* Periodically try to apply the operator perspective */