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

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

@@ -6,19 +6,20 @@ 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 Drive drive;
+  private Lanceur lanceur;
   /** Creates a new Limelight3g. */
-  public FollowAprilTag(Limelight3G enlignement, Drive drive) {
+  public FollowAprilTag(Limelight3G enlignement, Lanceur lanceur) {
     // Use addRequirements() here to declare subsystem dependencies.
-    this.drive = drive;
+    this.lanceur = lanceur;
     this.enlignement = enlignement;
 
-    addRequirements(drive, enlignement);
+    addRequirements(lanceur, enlignement);
   }
 
   // Called when the command is initially scheduled.
@@ -31,11 +32,11 @@ public class FollowAprilTag extends Command {
 
     if (enlignement.getv()==1)
     {
-      drive.drive(0, 0, enlignement.getx()/30);
+      lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }
     else
     {
-      drive.drive(0, 0, 0);
+      lanceur.tourelRotation(0, 0, 0);
     }
 
   }
@@ -43,7 +44,7 @@ public class FollowAprilTag extends Command {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    drive.drive(0, 0, 0);
+    lanceur.tourelRotation(0, 0, 0);
   }
 
   // Returns true when the command should end.

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/Subsystems/Lanceur.java

@@ -34,20 +34,28 @@ public class Lanceur extends SubsystemBase {
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
-    lanceur2.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 lance(){
     lance(vitesse.getDouble(0.2));
   }
-  public void tourelRotation(double vitesse){
-    tourelle.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() {