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

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

@@ -22,7 +22,7 @@ public class Desaccumuler extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(accumulateur.photocell()){accumulateur.desaccumule(0.1);}
+    if(accumulateur.photocell() || accumulateur.photocell2()){accumulateur.desaccumule(0.1);}
     
   }
   // Called once the command ends or is interrupted.

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

@@ -28,11 +28,11 @@ public class RobotContainer {
   CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
-    .withSize(3,4)
+    .withSize(4,3)
     .withPosition(0,0);
     dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
-    .withSize(3,4)
+    .withSize(4,3)
-    .withPosition(3,0);  
+    .withPosition(4,0);  
     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));

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

@@ -12,8 +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::photocell).withSize(1, 1).withPosition(0, 1);
+  public Accumulateur() {dashboard.addBoolean("photocell", this::photocell).withSize(1, 1).withPosition(0, 1);
-     dashboard.addBoolean("photocellacc2", this::photocell).withSize(1, 1).withPosition(0, 1);
+     dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(0, 1);
     }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
@@ -23,8 +23,8 @@ public class Accumulateur extends SubsystemBase {
       .withPosition(0, 4)
       .getEntry(); 
       
-  final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
+  final WPI_TalonSRX strap = new WPI_TalonSRX(0);
-  final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
+  final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10);
   final DigitalInput photocell = new DigitalInput(20);
   final DigitalInput photocell2 = new DigitalInput(21);
   public void encodeur(){
@@ -32,10 +32,17 @@ public class Accumulateur extends SubsystemBase {
   public boolean photocell(){
     return photocell.get();
   }
-  public void desaccumule(double vitesse){
+  public boolean photocell2(){
-    accumulateur1.set(vitesse);
+    return photocell2.get();
-    accumulateur2.set(-vitesse);
   }
+  public void desaccumule(double vitesse){
+    strap.set(vitesse);
+    
+  }
+  public void Petitlanceur(double vitesse){
+    roueRouge.set(vitesse);
+  }
+  
   public void desaccumule(){
     desaccumule(vitesse.getDouble(0.9));
   }

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

@@ -19,7 +19,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
-  public Lanceur() {}
+  public Lanceur() {dashboard.add("rottourel", 0.2)
+        .withSize(0,0)
+        .withPosition(1, 3);}
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
@@ -29,13 +31,9 @@ public class Lanceur extends SubsystemBase {
   private GenericEntry vitesse =
         dashboard.add("vitesselanceur", 0.2) 
         .withSize(0,0)
-        .withPosition(1, 4)
+        .withPosition(0, 3)
-        .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);
@@ -54,9 +52,7 @@ 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()); 
   }