Merge branch 'main' of https://demerso.net/pls5618/2023/robot

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -8,7 +8,6 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -61,12 +60,12 @@ public void BrakeFerme(){
   brakegauche.set(Value.kReverse);
 }
 public void resetGyro(){
-  try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true);
+  {gyroscope.reset();} 
  }
-  }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
+    teb .addDouble("distance", this::distance);
   }
 
   @Override
@@ -78,5 +77,6 @@ public void resetGyro(){
     //teb .add("distance",0.1);
     //teb .add("brakedroit",0.1);
     //teb .add("brakegauche", 0.1);
+
   }
 }

src/main/java/frc/robot/subsystems/Gratte.java

@@ -3,23 +3,36 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
-
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
+.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
+.withSize(2, 2);
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
-  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
+  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
-  
+  public boolean baiser;
+  boolean enHaut = true;
+  public void setenHaut(boolean enHaut){
+    this.enHaut = enHaut;
+  }
+  public boolean getenHaut(){
+    return enHaut;
+    
+  }
+
   public boolean hautd(){
     return limithd.get();
   }
@@ -34,8 +47,13 @@ public class Gratte extends SubsystemBase {
   public boolean basg(){
     return limitbg.get();
   }
-  /** Creates a new Gratte. */
-  public Gratte() {}
+ 
+  public Gratte() {   
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
+  }
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -45,10 +63,10 @@ public class Gratte extends SubsystemBase {
     Gratteg.set(-vitesse);
   }
   @Override
-  public void periodic() {
-    teb .add("limithd", 0.1);
-    teb .add("limithg", 0.1);
-    teb .add("limitbd", 0.1);
-    teb .add("limitbg", 0.1);
-  }
+  public void periodic(){
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
 }
+}

src/main/java/frc/robot/subsystems/Limelight.java

@@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase {
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
+    CameraServer.startAutomaticCapture();
+    teb .add("limelight", 0.1);
     PortForwarder.add(5800, "photonvision.local", 5800);
   }
 
@@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    CameraServer.startAutomaticCapture();
-    teb .add("limelight", 0.1);
   }
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -18,9 +18,12 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");  
   /** Creates a new BrasTelescopique. */
-  public BrasTelescopique() {}
+  public BrasTelescopique() {
+    teb .add("photocell",0.1);
+    teb .add("winch",0.1);
+    teb .add("encodeur",0.1);}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
   private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
@@ -44,9 +47,6 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-    teb .add("``photocell``",0.1);
-    teb .add("winch",0.1);
+    
   }
-
-  
-}
+}

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -14,7 +14,8 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+ ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -23,7 +24,11 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
-  // encoder
+  public Pivot(){
+    teb .add ("encodeurpivot",0.1);
+    teb .add ("limitpivot",0.1);
+  }
+  // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
   }
@@ -36,6 +41,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    teb .add("encodeur", 0.1);
   }
-}
+}  
+