bhbhbhbhh hbhbhbgfe

src/main/java/frc/robot/Constants.java

@@ -5,18 +5,12 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
-<<<<<<< HEAD
     public static int BrasTelescopique = 4;
     public static int pivot = 5;
     
     //moteur
     public static int leverGratte = 0;
-    public static int baisserGratte = 1;
+    public static int baiserGratte = 1;
-=======
-
-    public static int leverGratte = 7;
-    public static int baisserGratte = 6;
->>>>>>> Dash
 
     // pneumatique
     public static int pistonpinceouvre = 0;

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

@@ -6,7 +6,6 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -17,7 +16,6 @@ import frc.robot.subsystems.Gratte;
 import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
-import pabeles.concurrency.ConcurrencyOps.Reset;
 import frc.robot.subsystems.Limelight;
 // command
 import frc.robot.commands.BrakeFerme;
@@ -33,12 +31,7 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 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 frc.robot.commands.Cube;
-import frc.robot.commands.Cone;
-import frc.robot.commands.Tape;
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -64,23 +57,6 @@ PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pi
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
-=======
-import frc.robot.subsystems.BasePilotable;
-import frc.robot.subsystems.Gratte;
-import frc.robot.subsystems.Limelight;
-import frc.robot.subsystems.bras.BrasTelescopique;
-import frc.robot.subsystems.bras.Pince;
-import frc.robot.subsystems.bras.Pivot;
-
-public class RobotContainer {
-  BasePilotable basePilotable = new BasePilotable();
-  Gratte gratte = new Gratte();
-  BrasTelescopique brasTelescopique = new BrasTelescopique();
-  Pince pince = new Pince();
-  Pivot pivot = new Pivot();
-  Limelight limelight = new Limelight();
-  public RobotContainer() {
->>>>>>> Dash
     configureBindings();
 
     basePilotable.setDefaultCommand(new RunCommand(() -> {
@@ -89,24 +65,21 @@ public class 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.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
-    // manette 2
+    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique));
     manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
     manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
     manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
     manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
     manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
     manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));  
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
-    
   }
 
   public Command getAutonomousCommand() {

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

@@ -35,7 +35,7 @@ public class BasePilotable extends SubsystemBase {
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
-  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  .getLayout ("distance", BuiltInLayouts.kList)
   .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
@@ -72,12 +72,11 @@ public void resetGyro(){
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
+    layout .addDouble("distance", this::distance);
   }
 
   @Override
   public void periodic() {
-    teb .add("distance",0.1);
+
-    teb .add("brakedroit",0.1);
-    teb .add("brakegauche", 0.1);
   }
 }

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

@@ -7,27 +7,19 @@ package frc.robot.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-=======
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
->>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
-<<<<<<< HEAD
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
->>>>>>> Dash
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
-  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
+  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@@ -59,16 +51,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     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);
->>>>>>> Dash
   }
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -8,13 +8,10 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-=======
->>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
@@ -23,18 +20,13 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
-<<<<<<< HEAD
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
-=======
+ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
-  
+ .getLayout("bras", BuiltInLayouts.kList)
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ .withSize(2, 2);
-ShuffleboardLayout bras = Shuffleboard.getTab("teb")
-.getLayout("bras", BuiltInLayouts.kList)
-.withSize(2, 2);
->>>>>>> Dash
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -60,11 +52,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
     }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
-=======
     bras.add ("encodeur",0.1);
->>>>>>> Dash
   }
 }

src/main/java/frc/robot/subsystems/bras/Pince.java

@@ -8,8 +8,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-<<<<<<< HEAD
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
 ShuffleboardTab teb = Shuffleboard.getTab("teb");
->>>>>>> Dash
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -40,12 +36,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("encodeur", 0.1);
-  }
-}
-=======
     teb .add ("encodeur pivot",0.1);
   }
 }
->>>>>>> Dash
+  
+ 
+