bras

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

@@ -6,45 +6,36 @@ 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) {
+public class Bougerbras extends CommandBase {
+  /** Creates a new bougerbras. */
+  double distance;
+  BrasTelescopique brasTelescopique;
+  public Bougerbras(BrasTelescopique brasTelescopique,double distance) {
     this.brasTelescopique = brasTelescopique;
-    this.pivot = pivot;
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.distance = distance;
     addRequirements(brasTelescopique);
-    addRequirements(pivot);
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    brasTelescopique.fermer();
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.photocell()){
-      brasTelescopique.ouvrir();
-      brasTelescopique.Reset();
-      brasTelescopique.AvanceRecule(0);
-  }
-    else{
+    if(brasTelescopique.distance()>distance+0.5 ) {
+      brasTelescopique.AvanceRecule(-0.3);
+      
+    }
+    else if(brasTelescopique.distance()<distance-0.5) {
       brasTelescopique.AvanceRecule(0.3);
     }
-    if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.5);
-    }
-    else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.5);
-    }
-    else{
-      pivot.monteDescendre(0);
+    else {
+      brasTelescopique.AvanceRecule(0);
     }
   }
 
@@ -52,13 +43,13 @@ public class PivotChercheHaut extends CommandBase {
   @Override
   public void end(boolean interrupted) {
     brasTelescopique.AvanceRecule(0);
-    pivot.monteDescendre(0);
-    brasTelescopique.ouvrir();
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>distance-0.5 && brasTelescopique.distance()<distance+0.5;
+  
+
   }
 }

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

@@ -5,58 +5,47 @@
 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 PivotBrasRentre extends CommandBase {
-  private BrasTelescopique brasTelescopique;
-  private Pivot pivot;
-  /** Creates a new PivotBrasRentre. */
-  public PivotBrasRentre(BrasTelescopique brasTelescopique, Pivot pivot) {
-    this.brasTelescopique = brasTelescopique;
+public class Bougerpivot extends CommandBase {
+  /** Creates a new Bougerpivot. */
+  Pivot pivot;
+  double distance;
+  public Bougerpivot(Pivot pivot,double distance) {
     this.pivot = pivot;
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(brasTelescopique);
+    this.distance = distance;
     addRequirements(pivot);
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    brasTelescopique.fermer();
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(brasTelescopique.photocell()){
-      brasTelescopique.ouvrir();
-      brasTelescopique.Reset();
-      brasTelescopique.AvanceRecule(0);
-    }
-    else{
-      brasTelescopique.AvanceRecule(0.5);
-    }
-  if(pivot.limitpivot()){
-      pivot.Reset();
-      pivot.monteDescendre(0);
-    }
-    else{
+    if(pivot.distance()>distance+0.5 ) {
       pivot.monteDescendre(-0.5);
     }
+    else if(pivot.distance()<distance-0.5) {
+      pivot.monteDescendre(0.5);
+    }
+    else {
+      pivot.monteDescendre(0);
+    }
   }
-  
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    brasTelescopique.AvanceRecule(0);
     pivot.monteDescendre(0);
-    brasTelescopique.ouvrir();
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return brasTelescopique.photocell() && pivot.limitpivot();
-  }
+  return pivot.distance()>distance-0.5 && pivot.distance()<distance+0.5;
+
+    }
 }

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

@@ -0,0 +1,25 @@
+// 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.SequentialCommandGroup;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class DescendrePivotBras extends SequentialCommandGroup {
+  /** Creates a new DescendrePivotBras. */
+  public DescendrePivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) { 
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+      new Bougerbras(brasTelescopique, distanceBras),
+      new Bougerpivot(pivot, distancePivot)
+    );
+  }
+}

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

@@ -0,0 +1,28 @@
+// 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.Commands;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class MonterPivotBras extends ParallelCommandGroup {
+  /** Creates a new Sequancepivotbras. */
+  public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) {
+
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+      new SequentialCommandGroup(Commands.waitUntil(()->pivot.distance()>8),new Bougerbras(brasTelescopique, distanceBras)), 
+      new Bougerpivot(pivot, distancePivot)
+      
+    );
+  }
+}

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

@@ -1,67 +0,0 @@
-// 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() {
-    brasTelescopique.fermer();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(brasTelescopique.distance()>-17.5){
-      brasTelescopique.AvanceRecule(-0.2);
-      brasTelescopique.fermer();
-    }
-  else if(brasTelescopique.distance()<-19.5) {
-    brasTelescopique.AvanceRecule(0.2);
-    }
-    else {
-      brasTelescopique.AvanceRecule(0);
-      brasTelescopique.ouvrir();
-    }
-    if (pivot.distance()<8.5){
-      pivot.monteDescendre(0.3);
-    }
-    else if(pivot.distance()>10.5) {
-      pivot.monteDescendre(-0.3);
-    }
-    else{
-      pivot.monteDescendre(0);
-    }
-    }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    brasTelescopique.AvanceRecule(0);
-    pivot.monteDescendre(0);
-    brasTelescopique.fermer();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}