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

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

@@ -27,9 +27,8 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
-    if (lanceur.limitswitch1() || lanceur.limitswitch2()){
+    
-      lanceur.lance(0);}
+     if (enlignement.getv()==1)  
-      else if (enlignement.getv()==1)  
       {
         lanceur.tourelRotation(0,0, enlignement.getx()/30);
       }

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

@@ -29,9 +29,6 @@ public class Lancer extends Command {
     lanceur.lance();
     accumulateur.Petitlanceur(0.7);
     accumulateur.desaccumule(0.2);
-    
-   
-   
   }
   // Called once the command ends or is interrupted.
   @Override

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

@@ -0,0 +1,42 @@
+// 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.Lanceur;
+
+public class Tourel extends Command {
+  private Lanceur lanceur;
+  /** Creates a new Tourel. */
+  public Tourel(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    // 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(lanceur.limitswitch1()){
+     lanceur.touchagedelimitswitch1(0);
+    }
+    else if(lanceur.limitswitch2()){
+     lanceur.touchagedelimitswitch2(0);
+    }
+  }
+
+  // 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

@@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 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;
@@ -35,18 +34,24 @@ public class RobotContainer {
   // NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
    // autoChooser = AutoBuilder.buildAutoChooser();
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
-    .withSize(4,3)
+    .withSize(3,4)
-    .withPosition(0,0);
+    .withPosition(5,0);
     dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
-    .withSize(4,3)
+    .withSize(3,4)
-    .withPosition(4,0);  
+    .withPosition(2,0);  
     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));
+<<<<<<< HEAD
    // dashboard.add("autochooser",autoChooser)
    //   .withSize(1,1)
     //  .withPosition(6,0);
+=======
+    dashboard.add("autochooser",autoChooser)
+      .withSize(1,1)
+      .withPosition(8,0);
+>>>>>>> 3f240407849e489fb0b5fae52b61719f27c7b388
   }
   
   private void configureBindings() {

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

@@ -13,14 +13,14 @@ public class Accumulateur extends SubsystemBase {
   
   /** Creates a new Accumulateur. */
   public Accumulateur() {dashboard.addBoolean("photocell", this::photocell).withSize(1, 1).withPosition(0, 1);
-     dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(0, 1);
+     dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(1, 1);
     }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
   private GenericEntry vitesse =
       dashboard.add("vitesseacc", 0.1)
       .withSize(1, 1)
-      .withPosition(0, 4)
+      .withPosition(0, 0)
       .getEntry(); 
       
   final WPI_TalonSRX strap = new WPI_TalonSRX(0);

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

@@ -21,20 +21,25 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
-  public Lanceur() {dashboard.add("rottourel", 0.2)
+  public Lanceur() {
-        .withSize(0,0)
+   dashboard.addBoolean("limitswitch1", this::limitswitch1)
-        .withPosition(1, 3);}
+   .withSize(0,0).withPosition(1,2);
+   dashboard.addBoolean("limitswitch2", this::limitswitch2)
+   .withSize(0,0).withPosition(0,3);
+   dashboard.addDouble("rottourel", this::distancetourel)
+    .withSize(0,0).withPosition(1, 0);
+}
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
   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 CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
   final DigitalInput limitswitch1 = new DigitalInput(0);
   final DigitalInput limitswitch2 = new DigitalInput(1);
   private GenericEntry vitesse =
         dashboard.add("vitesselanceur", 0.2) 
         .withSize(0,0)
-        .withPosition(0, 3)
+        .withPosition(0, 2)
         .getEntry();
         
   public void encodeur(double distance){
@@ -42,7 +47,12 @@ public class Lanceur extends SubsystemBase {
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
   }
-  
+  public void touchagedelimitswitch1(double distance){
+    tourelle.getEncoder().setPosition(distance);
+  }
+  public void touchagedelimitswitch2(double distance){
+    tourelle.getEncoder().setPosition(distance);
+  }
   public void masterslave(){
     lanceur2.follow(lanceur1);
     lanceur2.setInverted(true);
@@ -58,10 +68,10 @@ public class Lanceur extends SubsystemBase {
   }
 
   public double vitessetourel(){
-   return(tourelle.getEncoder().getVelocity()); 
+   return (tourelle.getEncoder().getVelocity()); 
   }
   public double distancetourel(){
-    return(tourelle.getEncoder().getPosition());
+    return (tourelle.getEncoder().getPosition());
   }
   public void PIDlanceur(double p, double i, double d) {
    lanceur1.config_kP(0, p);

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

@@ -21,8 +21,10 @@ public class Limelight3G extends SubsystemBase {
   NetworkTableEntry tv = table.getEntry("tv");
   NetworkTableEntry camMode = table.getEntry("camMode");
   NetworkTableEntry tid = table.getEntry("tid");
+
   /** Creates a new Limelight. */
   public Limelight3G() {
+    dashboard.addDouble("tv", this::getv).withSize(0, 0).withPosition(1,3);
     for (int port = 5800; port <= 5807; port++) {
       PortForwarder.add(port, "limelight.local", port);
   }}