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

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

@@ -3,7 +3,6 @@
 // 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;
 
@@ -15,26 +14,22 @@ public class Desaccumuler extends Command {
     addRequirements(accumulateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
-
   // 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(accumulateur.photocell()){accumulateur.desaccumule(0.1);}
     
   }
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
    accumulateur.desaccumule(0);
   }
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

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

@@ -3,9 +3,7 @@
 // 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.Lanceur;
 import frc.robot.Subsystems.Limelight3G;
 
@@ -18,7 +16,6 @@ public class FollowAprilTag extends Command {
     // Use addRequirements() here to declare subsystem dependencies.
     this.lanceur = lanceur;
     this.enlignement = enlignement;
-
     addRequirements(lanceur, enlignement);
   }
 
@@ -46,7 +43,6 @@ public class FollowAprilTag extends Command {
   public void end(boolean interrupted) {
     lanceur.tourelRotation(0, 0, 0);
   }
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

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

@@ -3,7 +3,6 @@
 // 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.Lanceur;
 
@@ -15,25 +14,21 @@ public class Lancer extends Command {
     addRequirements(lanceur);
     // 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(0.5);
   }
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     lanceur.lance(0);
   }
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

src/main/java/frc/robot/LimelightHelpers.java

@@ -16,14 +16,12 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation2d;
-
 import java.io.IOException;
 import java.net.HttpURLConnection;
 import java.net.MalformedURLException;
 import java.net.URL;
 import java.util.Map;
 import java.util.concurrent.CompletableFuture;
-
 import com.fasterxml.jackson.annotation.JsonFormat;
 import com.fasterxml.jackson.annotation.JsonFormat.Shape;
 import com.fasterxml.jackson.annotation.JsonProperty;

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

@@ -8,8 +8,16 @@ 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 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");
   public RobotContainer() {
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")

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

@@ -3,15 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 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;
-
-
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
@@ -42,7 +38,6 @@ public class Accumulateur extends SubsystemBase {
   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/Drive.java

@@ -3,12 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.Subsystems;
-
 import java.io.File;
 import java.io.IOException;
-
 import com.ctre.phoenix6.hardware.Pigeon2;
-
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.wpilibj.Filesystem;
@@ -16,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import swervelib.SwerveDrive;
 import swervelib.parser.SwerveParser;
 
-
 public class Drive extends SubsystemBase {
 
     SwerveDrive swerveDrive;

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

@@ -39,7 +39,6 @@ public class Lanceur extends SubsystemBase {
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
-    
   }
   public void masterslave(){
     lanceur2.follow(lanceur1);
@@ -57,8 +56,8 @@ public class Lanceur extends SubsystemBase {
   public void tourelRotation(){
     tourelle.set(rotation.getDouble(0.1));
   }
-  public void vitesseTourel(){
-    tourelle.set(0.1);
+  public double vitessetourel(){
+   return(tourelle.getEncoder().getVelocity()); 
   }
   public double distancetourel(){
     return(tourelle.getEncoder().getPosition());

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

@@ -12,6 +12,7 @@ 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");
   private GenericEntry orientation =
@@ -20,7 +21,6 @@ public class Limelight3G extends SubsystemBase {
   .withPosition(2, 4)
   .getEntry();
   NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
-
   NetworkTableEntry tx = table.getEntry("tx");
   NetworkTableEntry ty = table.getEntry("ty");
   NetworkTableEntry pipeline = table.getEntry("pipeline");