tfghjkm

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

@@ -18,6 +18,7 @@ import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
 import pabeles.concurrency.ConcurrencyOps.Reset;
 import frc.robot.subsystems.Limelight;
+import frc.robot.commands.Apriltag;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
@@ -35,6 +36,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux;
 import frc.robot.commands.bras.PivotChercheBas;
 import frc.robot.commands.bras.PivotChercheHaut;
 import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.math.spline.CubicHermiteSpline;
 import frc.robot.commands.Cube;
 import frc.robot.commands.Cone;
 import frc.robot.commands.Tape;
@@ -62,6 +64,12 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+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);
+
 public RobotContainer() {
     configureBindings();
 
@@ -71,23 +79,24 @@ public RobotContainer() {
     
 }
 
-  private boolean configureBindings() {
+  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.y().whileTrue(gyro);
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
+    manette1.leftBumper().toggleOnTrue(aprilTag);
+    manette1.rightBumper().toggleOnTrue(tape);
     // manette 2
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique));
+    manette2.a().onTrue(pivoteBrasHaut);
-    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
+    manette2.b().onTrue(pivoteBrasBas);
-    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
+    manette2.x().onTrue(pivoteBrasMilieux);
-    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
+    manette2.y().onTrue(pivotBrasRentre);
-    manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
+    manette2.povRight().onTrue(pivotChercheBas);
-    manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
+    manette2.povLeft().onTrue(pivotChercheHaut);
-    manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    manette2.leftBumper().toggleOnTrue(cone);    
-    
   }
 
   public Command getAutonomousCommand() {

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

@@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  gratte.setenHaut(false);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -41,9 +43,7 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
+  public void end(boolean interrupted) {}
-    
-  }
 
   // Returns true when the command should end.
   @Override

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

@@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    gratte.setenHaut(true);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -5,6 +5,11 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import javax.swing.text.StyledEditorKit.BoldAction;
+
+import org.apache.commons.collections4.functors.IfClosure;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -25,8 +30,16 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
-public boolean baiser;
+  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();
   }
@@ -35,14 +48,19 @@ public boolean baiser;
     return limithg.get();
   }
 
-  public boolean basd(int i, String string){
+  public boolean basd(){
     return limitbd.get();
   }
   public boolean basg(){
     return limitbg.get();
   }
   /** Creates a new Gratte. */
-  public Gratte() {}
+  public Gratte() {
+   
+  }
+  
+  
+
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -52,18 +70,10 @@ public boolean baiser;
     Gratteg.set(-vitesse);
   }
   @Override
-  public void periodic() {
+  public void periodic(){
-    teb .add("limithd", 0.1);
-    teb .add("limithg", 0.1);
-    teb .add("limitbd", 0.1);
-    teb .add("limitbg", 0.1);
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
-
+}
-public boolean basd() {
-    return false;
-}
-}