jgghdfn

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

@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
@@ -26,16 +27,16 @@ public class GratteBaisser extends CommandBase {
   @Override
   public void execute() {
     if(gratte.basd()){
-      gratte.baiser(0);
+      gratte.baiserd(0);
     }
     else{
-      gratte.baiser(0.5);
+      gratte.baiserd(0.5);
     }
     if(gratte.basg()){
-      gratte.baiser(0);
+      gratte.baiserg(0);
     }
     else{
-      gratte.baiser(0.5);
+      gratte.baiserg(0.5);
     }
    
 
@@ -43,7 +44,10 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    gratte.baiserd(0);
+    gratte.baiserg(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
@@ -27,22 +28,25 @@ public class GratteMonte extends CommandBase {
   @Override
   public void execute() {
     if(gratte.hautd()){
-      gratte.Lever(0.5);
+      gratte.Leverd(0);
     }
     else{
-      gratte.Lever(0.5);
+      gratte.Leverd(0.5);
     }
     if(gratte.hautg()) {
-      gratte.Lever(0.5);
+      gratte.Leverg(0);
     }
     else{
-      gratte.Lever(0.5);
+      gratte.Leverg(0.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    gratte.Leverd(0);
+    gratte.Leverg(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -10,12 +10,9 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Gyro extends CommandBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private BasePilotable basePilotable;
   /** Creates a new Gyro. */
   public Gyro(BasePilotable basePilotable) {
-    teb.add("angleGyro", 0.1);
-    teb.add("vitesseGyro", 0.1);
     this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
@@ -28,18 +25,13 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()>10) 
+  if(basePilotable.getpitch()>6) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
-   else if(basePilotable.getpitch()<-10) 
+   else if(basePilotable.getpitch()<-6) 
    { 
     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);
    }
    else
    {

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

@@ -0,0 +1,37 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+
+public class BrasManuel extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  /** Creates a new BrasManuel. */
+  public BrasManuel(BrasTelescopique brasTelescopique) {
+    this.brasTelescopique = brasTelescopique;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    brasTelescopique.AvanceRecule(0.3);
+  }
+
+  // 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 false;
+  }
+}

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

@@ -22,38 +22,37 @@ public class PivotBrasRentre extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>1){
-      brasTelescopique.AvanceRecule(0.5);
-      brasTelescopique.fermer();
-    }
-    if (pivot.distance()>1){
-      pivot.monteDescendre(0.5);
-    }
-    else if(brasTelescopique.photocell()){
+  if(brasTelescopique.photocell()){
+      brasTelescopique.ouvrir();
       brasTelescopique.Reset();
       brasTelescopique.AvanceRecule(0);
-      brasTelescopique.ouvrir();
     }
     else{
       brasTelescopique.AvanceRecule(0.5);
     }
-    if(pivot.limitpivot()){
+  if(pivot.limitpivot()){
       pivot.Reset();
       pivot.monteDescendre(0);
     }
     else{
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(-0.3);
     }
   }
   
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -22,27 +22,29 @@ public class PivotChercheBas extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()<10){
-      brasTelescopique.AvanceRecule(0.5);
+    if(brasTelescopique.distance()>-17.5){
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
+  else if(brasTelescopique.distance()<-19.5) {
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
-      pivot.monteDescendre(0.5);
+    if (pivot.distance()<8.5){
+      pivot.monteDescendre(0.3);
     }
-    else if(pivot.distance()>11) {
-      pivot.monteDescendre(-0.5);
+    else if(pivot.distance()>10.5) {
+      pivot.monteDescendre(-0.3);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +53,11 @@ public class PivotChercheBas extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.fermer();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -22,27 +22,26 @@ public class PivotChercheHaut extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()<10){
-      brasTelescopique.AvanceRecule(0.5);
-      brasTelescopique.fermer();
-    }
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
-    }
-    else {
-      brasTelescopique.AvanceRecule(0);
+    if(brasTelescopique.photocell()){
       brasTelescopique.ouvrir();
+      brasTelescopique.Reset();
+      brasTelescopique.AvanceRecule(0);
+  }
+    else{
+      brasTelescopique.AvanceRecule(0.3);
     }
-    if (pivot.distance()<10){
-      pivot.monteDescendre(0.5);
+    if (pivot.distance()<43.5){
+      pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>11) {
-      pivot.monteDescendre(-0.5);
+    else if(pivot.distance()>44.5) {
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +50,11 @@ public class PivotChercheHaut extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -0,0 +1,38 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotManuel extends CommandBase {
+  private Pivot pivot;
+  /** Creates a new PivotManuel. */
+  public PivotManuel(Pivot pivot) {
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(pivot);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    pivot.monteDescendre(0.3);
+  }
+
+  // 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 false;
+  }
+}

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

@@ -24,27 +24,29 @@ public class PivoteBrasBas extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()<10){
-      brasTelescopique.AvanceRecule(0.5);
+    if(brasTelescopique.distance()>-13.5){
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
+  else if(brasTelescopique.distance()<-15.5) {
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
-      pivot.monteDescendre(0.5);
+    if (pivot.distance()<8.5){
+      pivot.monteDescendre(0.3);
     }
-    else if(pivot.distance()>11) {
-      pivot.monteDescendre(-0.5);
+    else if(pivot.distance()>10.5) {
+      pivot.monteDescendre(-0.3);
     }
     else{
       pivot.monteDescendre(0);
@@ -55,7 +57,11 @@ public class PivoteBrasBas extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

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

@@ -22,27 +22,29 @@ public class PivoteBrasHaut extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()<10){
-      brasTelescopique.AvanceRecule(0.5);
+    if(brasTelescopique.distance()>-39.5){
+      brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
+  else if(brasTelescopique.distance()<41.5) {
+    brasTelescopique.AvanceRecule(-0.15);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
-      pivot.monteDescendre(0.5);
+    if (pivot.distance()<50.5){
+      pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>11) {
-      pivot.monteDescendre(-0.5);
+    else if(pivot.distance()>52.5) {
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +53,11 @@ public class PivoteBrasHaut extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -22,27 +22,29 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()<10){
-      brasTelescopique.AvanceRecule(0.5);
+    if(brasTelescopique.distance()>-16.5){
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
+  else if(brasTelescopique.distance()<-17.5) {
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
-      pivot.monteDescendre(0.5);
+    if (pivot.distance()<43.5){
+      pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>11) {
-      pivot.monteDescendre(-0.5);
+    else if(pivot.distance()>44.5) {
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -52,7 +54,11 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override