dghbv

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(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class Avancer extends CommandBase {
+  BasePilotable basePilotable;
+  DoubleSupplier distance;
+  /** Creates a new Reculer. */
+  public Avancer(BasePilotable basePilotable, DoubleSupplier distance) {
+    this.basePilotable = basePilotable;
+    this.distance = distance;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    basePilotable.Reset();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(0.3,0);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return basePilotable.distance()>distance.getAsDouble();
+  }
+}

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

@@ -32,7 +32,7 @@ public class Cone extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -32,7 +32,7 @@ public class Cube extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -30,20 +30,20 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>10) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-10) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else
    {
-     basePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0); 
    }
 }
 

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

@@ -5,15 +5,21 @@
 package frc.robot.commands;
 
 
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Reculer extends CommandBase {
   BasePilotable basePilotable;
+  DoubleSupplier distance;
   /** Creates a new Reculer. */
-  public Reculer(BasePilotable basePilotable) {
+  public Reculer(BasePilotable basePilotable, DoubleSupplier distance) {
     this.basePilotable = basePilotable;
+    this.distance = distance;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
   }
@@ -27,7 +33,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0);
+    basePilotable.drive(-0.3,0);
   }
 
   // Called once the command ends or is interrupted.
@@ -37,6 +43,6 @@ public class Reculer extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return basePilotable.distance()<distance.getAsDouble();
   }
 }

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(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.