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();
@@ -87,7 +87,7 @@ public class RobotContainer {
   Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0));
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
-  Tape tape = new Tape(limelight, basePilotable, () -> -manette1.getLeftY());
+  Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
   PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getRightY);
   BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getRightX);
   ActiverLimeLight activerLimeLight = new ActiverLimeLight(limelight);
@@ -110,22 +110,25 @@ public class RobotContainer {
   private void configureBindings() {
     // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-    manette1.b().whileTrue(gratteMonte);
+    manette2.a().onTrue(brakeOuvre);
-    manette1.x().whileTrue(gratteBaisser);
+    manette2.b().onTrue(brakeFerme);
     manette1.leftBumper().whileTrue(aprilTag);
     manette1.rightBumper().whileTrue(tape);
-    manette1.povUp().whileTrue(creerCommandBras(51, -37));
+    manette1.povUp().whileTrue(creerCommandBras(51, -40));
-    manette1.povDown().whileTrue(creerCommandBras(12, -9));
+    manette1.povDown().whileTrue(creerCommandBras(9, -14));
-    manette1.povRight().whileTrue(creerCommandBras(45, -13));
+    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);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
-    manette2.a().onTrue(brakeOuvre);
+    manette1.b().whileTrue(gratteMonte);
-    manette2.b().onTrue(brakeFerme);
+    manette1.x().whileTrue(gratteBaisser);
+
   }
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {
@@ -136,15 +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(aumilieux, creerCommandBras(9, -14)),
-                Map.entry(enbas, creerCommandBras(12, -9)),
+                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),
@@ -153,8 +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))))
+            Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
-        .andThen(new BrakeOuvre(basePilotable));
+        .andThen(brakeOuvre);
 
   }
 }

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/bras/Bougerbras.java

@@ -28,11 +28,11 @@ public class Bougerbras extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>distance+0.5 ) {
-      brasTelescopique.AvanceRecule(-0.3);
+      brasTelescopique.AvanceRecule(-0.35);
       
     }
     else if(brasTelescopique.distance()<distance-0.5) {
-      brasTelescopique.AvanceRecule(0.3);
+      brasTelescopique.AvanceRecule(0.35);
     }
     else {
       brasTelescopique.AvanceRecule(0);

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

@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
-import frc.robot.commands.bras.Bougerbras;
+
 
 public class BasePilotable extends SubsystemBase {
   final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);