From bf63394d77730cd1a09adf7865e6ddfa0e013710 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 4 Nov 2024 18:24:47 -0500
Subject: [PATCH] dahboard

---
 src/main/java/frc/robot/Commands/Desaccumuler.java  |  3 ++-
 .../java/frc/robot/Subsystems/Accumulateur.java     |  8 +++-----
 src/main/java/frc/robot/Subsystems/Lanceur.java     | 13 ++++++++++++-
 src/main/java/frc/robot/Subsystems/Limelight3G.java |  9 +++++++++
 4 files changed, 26 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/Commands/Desaccumuler.java b/src/main/java/frc/robot/Commands/Desaccumuler.java
index 68a79f7..71f5705 100644
--- a/src/main/java/frc/robot/Commands/Desaccumuler.java
+++ b/src/main/java/frc/robot/Commands/Desaccumuler.java
@@ -25,7 +25,8 @@ 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.
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index adb2996..2b2dc2c 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -16,9 +16,7 @@ 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);
    
     }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
@@ -34,8 +32,8 @@ public class Accumulateur extends SubsystemBase {
   final DigitalInput photocell = new DigitalInput(94);
   public void encodeur(){
   }
-  public boolean limitswitch(){
-    return !photocell.get();
+  public boolean photocell(){
+    return photocell.get();
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index b5fd79d..eec1a16 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/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);
@@ -41,7 +46,7 @@ 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(){
     lance(vitesse.getDouble(0.2));
@@ -49,6 +54,12 @@ public class Lanceur extends SubsystemBase {
   public void tourelRotation(double x, double y, double rotation){
     tourelle.set(rotation);
   }
+  public void tourelRotation(){
+    tourelle.set(rotation.getDouble(0.1));
+  }
+  public void vitesseTourel(){
+    tourelle.set(0.1);
+  }
   public double distancetourel(){
     return(tourelle.getEncoder().getPosition());
   }
diff --git a/src/main/java/frc/robot/Subsystems/Limelight3G.java b/src/main/java/frc/robot/Subsystems/Limelight3G.java
index de2ad2a..866ee1f 100644
--- a/src/main/java/frc/robot/Subsystems/Limelight3G.java
+++ b/src/main/java/frc/robot/Subsystems/Limelight3G.java
@@ -6,10 +6,19 @@ package frc.robot.Subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.GenericEntry;
 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");
+  private GenericEntry orientation =
+  dashboard.add("orientation tourel", 0.1)
+  .withSize(0, 0)
+  .withPosition(2, 4)
+  .getEntry();
   NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
 
   NetworkTableEntry tx = table.getEntry("tx");