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

networktables.json

@@ -1 +1,26 @@
-
+[
+  {
+    "name": "/Shuffleboard/teb/auto/reculerdistancesortir",
+    "type": "double",
+    "value": -66.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/teb/auto/reculerdistancebalance",
+    "type": "double",
+    "value": -31.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/teb/auto/avancer",
+    "type": "double",
+    "value": -35.0,
+    "properties": {
+      "persistent": true
+    }
+  }
+]

networktables.json.bck

@@ -0,0 +1 @@
+

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

@@ -65,9 +65,9 @@ ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",Buil
 .withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
 GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
 GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
-GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
-GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
+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();
@@ -93,9 +93,9 @@ Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0))
 Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
 PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
 PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
-Cube cube = new Cube(limelight, basePilotable, null);
-Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
-Tape tape = new Tape(limelight, basePilotable, null);
+Cube cube = new Cube(limelight, basePilotable, ()-> manette1.getLeftY());
+Apriltag aprilTag = new Apriltag(limelight, basePilotable,()-> manette1.getLeftY());
+Tape tape = new Tape(limelight, basePilotable, ()-> manette1.getLeftY());
 PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
 BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
 
@@ -126,9 +126,10 @@ public RobotContainer() {
   private void configureBindings() {
     // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
-    manette1.leftBumper().toggleOnTrue(aprilTag);
-    manette1.rightBumper().toggleOnTrue(tape);
+    manette1.x().onTrue(brakeOuvre);
+    manette1.b().onTrue(brakeFerme);
+    manette1.leftBumper().whileTrue(aprilTag);
+    manette1.rightBumper().whileTrue(tape);
     manette1.povUp().whileTrue(pivoteBrasHaut);
     manette1.povDown().whileTrue(pivoteBrasBas);
     manette1.povRight().whileTrue(pivoteBrasMilieux);
@@ -136,19 +137,18 @@ public RobotContainer() {
     //manette 2
     manette2.povDown().onTrue(pivotChercheBas);
     manette2.povUp().onTrue(pivotChercheHaut);
-    manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.rightBumper().whileTrue(cube);
+    manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
     manette2.b().whileTrue(gratteBaisser);
+    manette2.back().onTrue(new InstantCommand(basePilotable::Reset));
 
   }
 
   public Command getAutonomousCommand() {
-    chooser.getSelected();
-    autobalance.getBoolean(true);
-    return new SequentialCommandGroup(
+    return Commands.waitSeconds(14).deadlineWith( new SequentialCommandGroup(
       Commands.select(Map.ofEntries(
         Map.entry(enhaut,pivoteBrasHaut),
         Map.entry(aumilieux,pivoteBrasMilieux),
@@ -156,10 +156,14 @@ public RobotContainer() {
         Map.entry(nulpart,pivotBrasRentre)
       ), chooser::getSelected),
       ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.waitSeconds(1),
+      fermePince.unless(()->chooser.getSelected().equals(nulpart)),
+      new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.waitSeconds(1),
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
-      avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
+      avancer.unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
-    ).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
+    )).andThen(new InstantCommand(basePilotable::BrakeOuvre,basePilotable));
 
 
   }

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

@@ -37,6 +37,6 @@ public class BrakeFerme extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }

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

@@ -37,6 +37,6 @@ public class BrakeOuvre extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }

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

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

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

@@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(-0.3,0);
+    basePilotable.drive(-0.4,0);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/bras/BrasManuel.java

@@ -29,7 +29,10 @@ public class BrasManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+    if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
+      brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+    }
+   
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/bras/FermePince.java

@@ -33,6 +33,6 @@ public class FermePince extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }

src/main/java/frc/robot/commands/bras/OuvrePince.java

@@ -33,6 +33,6 @@ public class OuvrePince extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }

src/main/java/frc/robot/commands/bras/PivotBrasRentre.java

@@ -42,7 +42,7 @@ public class PivotBrasRentre extends CommandBase {
       pivot.monteDescendre(0);
     }
     else{
-      pivot.monteDescendre(-0.3);
+      pivot.monteDescendre(-0.5);
     }
   }
   
@@ -57,6 +57,6 @@ public class PivotBrasRentre extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.photocell() && pivot.limitpivot();
   }
 }

src/main/java/frc/robot/commands/bras/PivotChercheHaut.java

@@ -38,10 +38,10 @@ public class PivotChercheHaut extends CommandBase {
       brasTelescopique.AvanceRecule(0.3);
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.4);
+      pivot.monteDescendre(0.5);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.4);
+      pivot.monteDescendre(-0.5);
     }
     else{
       pivot.monteDescendre(0);

src/main/java/frc/robot/commands/bras/PivotManuel.java

@@ -27,7 +27,8 @@ public class PivotManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pivot.monteDescendre(doubleSupplier.getAsDouble());
+    if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
+      pivot.monteDescendre(doubleSupplier.getAsDouble());}
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/bras/PivoteBrasBas.java

@@ -43,10 +43,10 @@ public class PivoteBrasBas extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<8.5){
-      pivot.monteDescendre(0.3);
+      pivot.monteDescendre(0.4);
     }
     else if(pivot.distance()>10.5) {
-      pivot.monteDescendre(-0.3);
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -65,6 +65,7 @@ public class PivoteBrasBas extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-14.5 && pivot.distance()<8.5 && pivot.distance()>9.5;
+
   }
 }

src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java

@@ -33,7 +33,7 @@ public class PivoteBrasHaut extends CommandBase {
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<41.5) {
+  else if(brasTelescopique.distance()<-41.5) {
     brasTelescopique.AvanceRecule(-0.15);
     }
     else {
@@ -41,10 +41,10 @@ public class PivoteBrasHaut extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<50.5){
-      pivot.monteDescendre(0.4);
+      pivot.monteDescendre(0.5);
     }
     else if(pivot.distance()>52.5) {
-      pivot.monteDescendre(-0.4);
+      pivot.monteDescendre(-0.5);
     }
     else{
       pivot.monteDescendre(0);
@@ -62,6 +62,6 @@ public class PivoteBrasHaut extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>-39.5 && brasTelescopique.distance() <-41.5 && pivot.distance()<50.5 && pivot.distance()>52.5;
   }
 }

src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java

@@ -30,21 +30,21 @@ public class PivoteBrasMilieux extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>-16.5){
-      brasTelescopique.AvanceRecule(-0.2);
+      brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()<-17.5) {
-    brasTelescopique.AvanceRecule(0.2);
+    brasTelescopique.AvanceRecule(0.15);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.4);
+      pivot.monteDescendre(0.6);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.4);
+      pivot.monteDescendre(-0.6);
     }
     else{
       pivot.monteDescendre(0);
@@ -63,6 +63,7 @@ public class PivoteBrasMilieux extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>-16.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<44.5 && pivot.distance()>43.5;
+    } 
   }
-}
+

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

@@ -47,7 +47,7 @@ public class Limelight extends SubsystemBase {
   public double getYaw() {
     var result = limelight.getLatestResult();
     if(result.hasTargets()){
-    return  result.getBestTarget().getYaw();
+    return   -result.getBestTarget().getYaw()/60;
     }
     return 0;