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

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

@@ -22,7 +22,8 @@ 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.
   @Override

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

@@ -12,9 +12,8 @@ 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");
   
@@ -29,8 +28,8 @@ 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);

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);
@@ -40,7 +45,7 @@ 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));
@@ -48,6 +53,9 @@ 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 double vitessetourel(){
    return(tourelle.getEncoder().getVelocity()); 
   }

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

@@ -6,11 +6,20 @@ 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");
   NetworkTableEntry ty = table.getEntry("ty");