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

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

@@ -6,6 +6,7 @@ package frc.robot;
 
 import java.util.Map;
 
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
@@ -64,7 +65,6 @@ public class RobotContainer {
   GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
   GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
   GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
-  
   // subsystems
   BasePilotable basePilotable = new BasePilotable();
   Gratte gratte = new Gratte();
@@ -114,13 +114,13 @@ public class RobotContainer {
     manette2.b().onTrue(brakeFerme);
     manette1.leftBumper().whileTrue(aprilTag);
     manette1.rightBumper().whileTrue(tape);
-    manette1.povUp().whileTrue(creerCommandBras(51, -37));
-    manette1.povDown().whileTrue(creerCommandBras(12, -9));
-    manette1.povRight().whileTrue(creerCommandBras(45, -13));
+    manette1.povUp().whileTrue(creerCommandBras(51, -40));
+    manette1.povDown().whileTrue(creerCommandBras(9, -14));
+    manette1.povRight().whileTrue(creerCommandBras(44, -17));
     manette1.povLeft().whileTrue(creerCommandBras(0, 0));
     manette1.y().whileTrue(activerLimeLight);
     //manette 2
-    manette2.povDown().whileTrue(creerCommandBras(5, -12));
+    manette2.povDown().whileTrue(creerCommandBras(9, -18));
     manette2.povUp().whileTrue(creerCommandBras(44, 0));
     manette2.rightBumper().whileTrue(cube);
     manette2.leftBumper().whileTrue(cone);
@@ -128,6 +128,7 @@ public class RobotContainer {
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette1.b().whileTrue(gratteMonte);
     manette1.x().whileTrue(gratteBaisser);
+
   }
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {
@@ -138,15 +139,15 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-
+    chooser.getSelected();
+    autobalance.getBoolean(true);
     return Commands.deadline(
-        Commands.waitSeconds(14),
+        Commands.waitSeconds(14.6),
         new SequentialCommandGroup(
-          new BrakeFerme(basePilotable),
             Commands.select(Map.ofEntries(
                 Map.entry(enhaut, creerCommandBras(51, -40)),
-                Map.entry(aumilieux, creerCommandBras(45, -13)),
-                Map.entry(enbas, creerCommandBras(12, -9)),
+                Map.entry(aumilieux, creerCommandBras(9, -14)),
+                Map.entry(enbas, creerCommandBras(44, -17)),
                 Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
             new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
@@ -155,8 +156,8 @@ public class RobotContainer {
             Commands.waitSeconds(1),
             Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)),
             new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
-            Commands.either(new Gyro(basePilotable), Commands.none(), () -> autobalance.getBoolean(true))))
-        .andThen(new BrakeOuvre(basePilotable));
+            Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
+        .andThen(brakeOuvre);
 
   }
 }

src/main/java/frc/robot/commands/Apriltag.java

@@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/GratteMonte.java

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 

src/main/java/frc/robot/commands/Gyro.java

@@ -4,6 +4,7 @@
 
 package frc.robot.commands;
 
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 

src/main/java/frc/robot/commands/Tape.java

@@ -32,7 +32,7 @@ public class Tape extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
+
 public class BasePilotable extends SubsystemBase {
   final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
   final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
@@ -42,6 +43,9 @@ public class BasePilotable extends SubsystemBase {
   public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
+  public void drive(double xSpeed, double zRotation, boolean square){
+    drive.arcadeDrive(xSpeed, zRotation, square);
+  }
   public double distance(){
     return (-avantdroit.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()

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

@@ -41,12 +41,13 @@ public class Limelight extends SubsystemBase {
   public void tape() {
     limelight.setLED(VisionLEDMode.kOn);
     limelight.setPipelineIndex(1);
+
   }
 
   public double getYaw() {
     var result = limelight.getLatestResult();
     if(result.hasTargets()){
-    return   -result.getBestTarget().getYaw()/30;
+    return   -result.getBestTarget().getYaw()/45;
     }
     return 0;