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

src/main/deploy/pathplanner/paths/Example Path.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.9001283880171185,
+        "y": 2.9171184022824534
+      },
+      "prevControl": {
+        "x": 4.9001283880171185,
+        "y": 2.9171184022824534
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -22,7 +22,8 @@ public class Desaccumuler extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    accumulateur.desaccumule(0.1);
+    if(accumulateur.photocell()){accumulateur.desaccumule(0.1);}
+    
   }
   // Called once the command ends or is interrupted.
   @Override

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

@@ -27,7 +27,7 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
-    if (enlignement.getv()==1)
+    if (enlignement.getv()==1)  
     {
       lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }

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

@@ -0,0 +1,47 @@
+// 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.Limelight3G;
+
+
+public class Tracker_Couleur_Forme extends Command {
+  /** Creates a new Tracker_Couleur_Forme. */
+  private Limelight3G pipeline;
+  public Tracker_Couleur_Forme(Limelight3G tracker_couleur, Limelight3G tracker_forme) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.pipeline = pipeline;
+    this.tracker_couleur = tracker_couleur;
+    this.tracker_forme = tracker_forme;
+  }
+
+  // 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 (pipeline == 1) {
+      Limelight3G.tracker_couleur;
+    }
+    else if (pipeline == 2){
+      Limelight3G.tracker_forme;
+    }
+    
+    
+  }
+
+  // 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/RobotContainer.java

@@ -4,13 +4,28 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 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;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.Commands.Desaccumuler;
+import frc.robot.Commands.FollowAprilTag;
+import frc.robot.Commands.Lancer;
+import frc.robot.Subsystems.Accumulateur;
+import frc.robot.Subsystems.Drive;
+import frc.robot.Subsystems.Lanceur;
+import frc.robot.Subsystems.Limelight3G;
 
 public class RobotContainer {
+  Lanceur lanceur= new Lanceur();
+  Accumulateur accumulateur = new Accumulateur();
+  Limelight3G limelight3G = new Limelight3G();
+  Drive drive = new Drive();
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,4)
@@ -19,9 +34,17 @@ public class RobotContainer {
     .withSize(3,4)
     .withPosition(3,0);  
     configureBindings();
+    drive.setDefaultCommand(new RunCommand(()->{
+     drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
+    },drive));
   }
+  
+  private void configureBindings() {
 
-  private void configureBindings() {}
+    manette.x().whileTrue(new Lancer(lanceur));
+    manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
+    manette.a().whileTrue(new Desaccumuler(accumulateur));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

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

@@ -12,9 +12,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
   /** Creates a new Accumulateur. */
-  public Accumulateur() {dashboard.addBoolean("photocellacc", this::limitswitch)
-    .withSize(1, 1)
-    .withPosition(0, 1);
+  public Accumulateur() {dashboard.addBoolean("photocellacc", this::photocell).withSize(1, 1).withPosition(0, 1);
+     dashboard.addBoolean("photocellacc2", this::photocell).withSize(1, 1).withPosition(0, 1);
     }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
@@ -27,10 +26,11 @@ public class Accumulateur extends SubsystemBase {
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
   final DigitalInput photocell = new DigitalInput(94);
+  final DigitalInput photocell2 = new DigitalInput(93);
   public void encodeur(){
   }
-  public boolean limitswitch(){
-    return !photocell.get();
+  public boolean photocell(){
+    return photocell.get();
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);

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

@@ -30,6 +30,11 @@ public class Lanceur extends SubsystemBase {
         .withSize(0,0)
         .withPosition(1, 4)
         .getEntry();
+        private GenericEntry rotation =
+        dashboard.add("rottourel", 0.2)
+        .withSize(0,0)
+        .withPosition(1, 5)
+        .getEntry();
   public void encodeur(double distance){
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@@ -40,14 +45,20 @@ public class Lanceur extends SubsystemBase {
     lanceur2.setInverted(true);
   }
   public void lance(double vitesse){
-    lanceur1.set(vitesse);
+    lanceur1.set(vitesse);lanceur2.set(vitesse);
   }
-  public void lance(){
+  public void lance(){  
     lance(vitesse.getDouble(0.2));
   }
   public void tourelRotation(double x, double y, double rotation){
     tourelle.set(rotation);
   }
+  public void tourelRotation(){
+    tourelle.set(rotation.getDouble(0.1));
+  }
+  public double vitessetourel(){
+   return(tourelle.getEncoder().getVelocity()); 
+  }
   public double distancetourel(){
     return(tourelle.getEncoder().getPosition());
   }

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

@@ -9,8 +9,11 @@ import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 public class Limelight3G extends SubsystemBase {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
   NetworkTableEntry tx = table.getEntry("tx");
   NetworkTableEntry ty = table.getEntry("ty");