kjhgf

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

@@ -18,6 +18,8 @@ public class Constants {
      public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
+     public static int brakewinchf = 5;
+     public static int brakewinchb = 5;
     // DIO
     public static int limitbd = 0;
     public static int limitbg = 2;

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

@@ -4,7 +4,6 @@
 
 package frc.robot;
 
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -23,19 +22,16 @@ import frc.robot.subsystems.Limelight;
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.Cone;
-import frc.robot.commands.Cube;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
 import frc.robot.commands.Reculer;
-import frc.robot.commands.Tape;
 import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.OuvrePince;
 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.Apriltag;
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -60,9 +56,6 @@ 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());
-Cube cube = new Cube(limelight, basePilotable, ()->-manette1.getLeftY());
-Apriltag aprilTag = new Apriltag(limelight, basePilotable, ()->-manette1.getLeftY());
-Tape tape = new Tape(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
     configureBindings();
 
@@ -76,9 +69,8 @@ public RobotContainer() {
     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());
+    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-
   }
 
   public Command getAutonomousCommand() {

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

@@ -4,8 +4,7 @@
 
 package frc.robot.commands;
 
-import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+
-import frc.robot.Constants;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 

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

@@ -29,6 +29,7 @@ public class PivotBrasRentre extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()>1){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
     if (pivot.distance()>1){
       pivot.monteDescendre(0.5);
@@ -36,9 +37,10 @@ public class PivotBrasRentre extends CommandBase {
     else if(brasTelescopique.photocell()){
       brasTelescopique.Reset();
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     else{
-      brasTelescopique.AvanceRecule(.5);
+      brasTelescopique.AvanceRecule(0.5);
     }
     if(pivot.limitpivot()){
       pivot.Reset();

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

@@ -0,0 +1,61 @@
+// 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;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotChercheBas extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotChercheBas. */
+  public PivotChercheBas(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    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() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(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 false;
+  }
+}

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

@@ -0,0 +1,61 @@
+// 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;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotChercheHaut extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotChercheHaut. */
+  public PivotChercheHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    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() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(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 false;
+  }
+}

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

@@ -31,12 +31,14 @@ public class PivoteBrasBas extends CommandBase {
   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);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);

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

@@ -29,12 +29,14 @@ public class PivoteBrasHaut extends CommandBase {
   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);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);

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

@@ -29,12 +29,14 @@ public class PivoteBrasMilieux extends CommandBase {
   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);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);

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

@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
-import org.photonvision.targeting.PhotonTrackedTarget;
+
 
 import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;

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

@@ -9,6 +9,12 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+<<<<<<< HEAD
+=======
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,6 +26,7 @@ public class BrasTelescopique extends SubsystemBase {
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
+  private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -30,11 +37,22 @@ public class BrasTelescopique extends SubsystemBase {
     Winch.getEncoder().setPosition(0);
   }
   public boolean photocell(){
-    return photocell.get();
+    return photocell.get(); 
   }
+  public void fermer() {
+    brakewinch.set(Value.kReverse);
+    }
+    public void ouvrir() {
+      brakewinch.set(Value.kForward);
+    }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     teb .add("``photocell``",0.1);
     teb .add("winch",0.1);
+=======
+    Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
   }
 }

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

@@ -36,6 +36,14 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     teb .add("encodeur", 0.1);
   }
 }
+=======
+    Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+  }
+ }
+
+>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a