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

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

@@ -27,10 +27,13 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
+    
     if (enlignement.getv()==1)  
     {
       lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }
+    if (lanceur.limitswitch1() || lanceur.limitswitch2()){
+      lanceur.lance(0);}
     else
     {
       lanceur.tourelRotation(0, 0, 0);

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

@@ -4,14 +4,18 @@
 
 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;
 
 public class Lancer extends Command {
   private Lanceur lanceur;
+  private Accumulateur accumulateur;
   /** Creates a new Lancer. */
-  public Lancer(Lanceur lanceur) {
+  public Lancer(Lanceur lanceur,Accumulateur accumulateur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur, accumulateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
   // Called when the command is initially scheduled.
@@ -22,7 +26,12 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lance(0.5);
+    lanceur.lance();
+    accumulateur.Petitlanceur(0.7);
+    accumulateur.desaccumule(0.2);
+    
+   
+   
   }
   // Called once the command ends or is interrupted.
   @Override

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

@@ -41,7 +41,7 @@ public class RobotContainer {
   
   private void configureBindings() {
 
-    manette.x().whileTrue(new Lancer(lanceur));
+    manette.x().whileTrue(new Lancer(lanceur,accumulateur));
     manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
     manette.a().whileTrue(new Desaccumuler(accumulateur));
   }

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

@@ -13,10 +13,12 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 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;
 
+
 public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
   public Lanceur() {dashboard.add("rottourel", 0.2)
@@ -27,7 +29,8 @@ public class Lanceur extends SubsystemBase {
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
   final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
-  final 
+  final DigitalInput limitswitch1 = new DigitalInput(0);
+  final DigitalInput limitswitch2 = new DigitalInput(1);
   private GenericEntry vitesse =
         dashboard.add("vitesselanceur", 0.2) 
         .withSize(0,0)
@@ -39,12 +42,13 @@ public class Lanceur extends SubsystemBase {
     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);
+    lanceur1.set(vitesse);
   }
   public void lance(){  
     lance(vitesse.getDouble(0.2));
@@ -64,6 +68,12 @@ public class Lanceur extends SubsystemBase {
    lanceur1.config_kI(0, i);
    lanceur1.config_kD(0, d);
   }
+  public boolean limitswitch1(){
+    return limitswitch1.get();
+  }
+   public boolean limitswitch2(){
+    return limitswitch2.get();
+  } 
   @Override
   public void periodic() {
     // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run