Dashboard limelights et accumulateur

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

@@ -4,11 +4,20 @@
 
 package frc.robot;
 
+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;
 
 public class RobotContainer {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   public RobotContainer() {
+    dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(0,0);
+    dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(3,0);  
     configureBindings();
   }
 

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

@@ -5,6 +5,10 @@
 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;
 
 
@@ -12,15 +16,35 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
   /** Creates a new Accumulateur. */
-  public Accumulateur() {}
+  public Accumulateur() {dashboard.addBoolean("photocellacc", this::limitswitch)
+    .withSize(1, 1)
+    .withPosition(0, 1);
+   
+    }
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  
+  private GenericEntry vitesse =
+      dashboard.add("vitesseacc", 0.1)
+      .withSize(1, 1)
+      .withPosition(0, 4)
+      .getEntry(); 
+      
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
+  final DigitalInput photocell = new DigitalInput(94);
   public void encodeur(){
   }
+  public boolean limitswitch(){
+    return !photocell.get();
+  }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);
     accumulateur2.set(-vitesse);
   }
+  public void desaccumule(){
+    desaccumule(vitesse.getDouble(0.9));
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run