yfcghjhfhcgvnm

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

@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -60,15 +61,21 @@ public class RobotContainer {
   String aumilieux = "au milieux";
   String enbas = "en bas";
   String nulpart = "nul part";
+  GenericEntry forcebrasmonter = Shuffleboard.getTab("teb").addPersistent("force bras monter", 0.35).getEntry();
+  GenericEntry forcebrasdescendre = Shuffleboard.getTab("teb").addPersistent("force bras descendre", -0.35).getEntry();
+  GenericEntry forcepivotmonter = Shuffleboard.getTab("teb").addPersistent("force pivot monter", 0.5).getEntry();
+  GenericEntry forcepivotdescendre = Shuffleboard.getTab("teb").addPersistent("force pivot descendre", -0.5).getEntry();
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
       .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
   GenericEntry autobalance = layoutauto.add("choix balance", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   GenericEntry autosortir = layoutauto.add("choix sortir", false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
+  GenericEntry reculerdistances = layoutauto.addPersistent("reculer distance sortir", -66).getEntry();
-  GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
+  GenericEntry reculerdistanceb = layoutauto.addPersistent("reculer distance balance", -31).getEntry();
   GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
-  GenericEntry avancerforce = layoutauto.addPersistent("avancerforce", 0.4).getEntry();
+  GenericEntry avancerforce = layoutauto.addPersistent("avancer force", 0.4).getEntry();
-  GenericEntry reculerforce = layoutauto.addPersistent("reculerforce", 0.4).getEntry();
+  GenericEntry reculerforce = layoutauto.addPersistent("reculer force", -0.45).getEntry();
+  GenericEntry gyroforce = layoutauto.addPersistent("gyro force", 0.3).getEntry();
+  
   // subsystems
   BasePilotable basePilotable = new BasePilotable();
   Gratte gratte = new Gratte();
@@ -82,13 +89,13 @@ public class RobotContainer {
   BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
   GratteBaisser gratteBaisser = new GratteBaisser(gratte);
   GratteMonte gratteMonte = new GratteMonte(gratte);
-  Gyro gyro = new Gyro(basePilotable);
+  Gyro gyro = new Gyro(basePilotable,()->gyroforce.getDouble(0));
   FermePince fermePince = new FermePince(pince);
   OuvrePince ouvrePince = new OuvrePince(pince);
   Cone cone = new Cone(limelight, basePilotable, () -> -manette1.getLeftY());
-  Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0));
+  Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0),()->reculerforce.getDouble(0));
-  Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0));
+  Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0),()->reculerforce.getDouble(0));
-  Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0));
+  Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0),()-> avancerforce.getDouble(0));
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
   Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
@@ -137,8 +144,8 @@ public class RobotContainer {
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {
     return Commands.either(
-        new MonterPivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
+        new MonterPivotBras(brasTelescopique, pivot, distanceBras, distancePivot,forcebrasmonter,forcebrasdescendre,forcepivotmonter,forcepivotdescendre),
-        new DescendrePivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
+        new DescendrePivotBras(brasTelescopique, pivot, distanceBras, distancePivot,forcebrasmonter,forcebrasdescendre,forcepivotmonter,forcepivotdescendre),
         () -> pivot.distance() < distancePivot);
   }
 
@@ -160,7 +167,7 @@ public class RobotContainer {
            new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             new ParallelCommandGroup (creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true))),
-            new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
+            new Avancer(basePilotable, () -> avancerdistance.getDouble(0),()->avancerforce.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
             Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
         .andThen(brakeOuvre);
 

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

@@ -7,17 +7,18 @@ package frc.robot.commands;
 
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Avancer extends CommandBase {
   BasePilotable basePilotable;
   DoubleSupplier distance;
+  DoubleSupplier force;
   /** Creates a new Reculer. */
-  public Avancer(BasePilotable basePilotable, DoubleSupplier distance) {
+  public Avancer(BasePilotable basePilotable, DoubleSupplier distance, DoubleSupplier force) {
     this.basePilotable = basePilotable;
     this.distance = distance;
+    this.force = force;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
   }
@@ -31,7 +32,7 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.4,0);
+    basePilotable.drive(force.getAsDouble(),0);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,14 +5,18 @@
 package frc.robot.commands;
 
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Gyro extends CommandBase {
   private BasePilotable basePilotable;
+  DoubleSupplier force;
   /** Creates a new Gyro. */
-  public Gyro(BasePilotable basePilotable) {
+  public Gyro(BasePilotable basePilotable,DoubleSupplier force) {
     this.basePilotable = basePilotable;
+    this.force = force;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
   }
@@ -26,11 +30,11 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(force.getAsDouble()*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(force.getAsDouble()*basePilotable.getpitch()/12, 0);
    }
    else
    {

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

@@ -13,10 +13,12 @@ import frc.robot.subsystems.BasePilotable;
 public class Reculer extends CommandBase {
   BasePilotable basePilotable;
   DoubleSupplier distance;
+  DoubleSupplier force;
   /** Creates a new Reculer. */
-  public Reculer(BasePilotable basePilotable, DoubleSupplier distance) {
+  public Reculer(BasePilotable basePilotable, DoubleSupplier distance,DoubleSupplier force) {
     this.basePilotable = basePilotable;
     this.distance = distance;
+    this.force = force;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
   }
@@ -30,7 +32,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(-0.45,0);
+    basePilotable.drive(force.getAsDouble(),0);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -4,6 +4,8 @@
 
 package frc.robot.commands.bras;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.BrasTelescopique;
 
@@ -11,9 +13,14 @@ public class Bougerbras extends CommandBase {
   /** Creates a new bougerbras. */
   double distance;
   BrasTelescopique brasTelescopique;
-  public Bougerbras(BrasTelescopique brasTelescopique,double distance) {
+  private GenericEntry forcebrasdescendre;
+  private GenericEntry forcebrasmonter;
+  
+  public Bougerbras(BrasTelescopique brasTelescopique,double distance,GenericEntry forcebrasdescendre, GenericEntry forcebrasmonter) {
     this.brasTelescopique = brasTelescopique;
     this.distance = distance;
+    this.forcebrasdescendre = forcebrasdescendre;
+    this.forcebrasmonter = forcebrasmonter;
     addRequirements(brasTelescopique);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -28,11 +35,11 @@ public class Bougerbras extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>distance+0.5 ) {
-      brasTelescopique.AvanceRecule(-0.35);
+      brasTelescopique.AvanceRecule(forcebrasdescendre.getDouble(-0.35));
       
     }
     else if(brasTelescopique.distance()<distance-0.5) {
-      brasTelescopique.AvanceRecule(0.35);
+      brasTelescopique.AvanceRecule(forcebrasmonter.getDouble(0.35));
     }
     else {
       brasTelescopique.AvanceRecule(0);

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

@@ -4,6 +4,8 @@
 
 package frc.robot.commands.bras;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.Pivot;
 
@@ -11,10 +13,15 @@ public class Bougerpivot extends CommandBase {
   /** Creates a new Bougerpivot. */
   Pivot pivot;
   double distance;
-  public Bougerpivot(Pivot pivot,double distance) {
+ private GenericEntry forcepivotmonter;
+ private GenericEntry forcepivotdescendre;
+  public Bougerpivot(Pivot pivot,double distance,GenericEntry forcepivotdescendre, GenericEntry forcepivotmonter) {
     this.pivot = pivot;
     this.distance = distance;
+    this.forcepivotdescendre = forcepivotdescendre;
+    this.forcepivotmonter = forcepivotmonter;
     addRequirements(pivot);
+    
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,10 +33,10 @@ public class Bougerpivot extends CommandBase {
   @Override
   public void execute() {
     if(pivot.distance()>distance+0.5 ) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(forcepivotdescendre.getDouble(-0.5));
     }
     else if(pivot.distance()<distance-0.5) {
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(forcepivotmonter.getDouble(0.5));
     }
     else {
       pivot.monteDescendre(0);

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

@@ -5,6 +5,7 @@
 package frc.robot.commands.bras;
 
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pivot;
@@ -14,13 +15,13 @@ import frc.robot.subsystems.bras.Pivot;
 // 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) { 
+  public DescendrePivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot,GenericEntry forcebrasmonter, GenericEntry forcebrasdescendre,GenericEntry forcepivotmonter,GenericEntry forcepivotdescendre ) { 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
       
-      new Bougerbras(brasTelescopique, distanceBras),
+      new Bougerbras(brasTelescopique, distanceBras,forcebrasdescendre,forcebrasmonter),
-      new Bougerpivot(pivot, distancePivot)
+      new Bougerpivot(pivot, distancePivot,forcepivotdescendre,forcepivotmonter)
       
     );
   }

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

@@ -5,6 +5,7 @@
 package frc.robot.commands.bras;
 
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.bras.BrasTelescopique;
@@ -15,14 +16,14 @@ import frc.robot.subsystems.bras.Pivot;
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class MonterPivotBras extends SequentialCommandGroup {
   /** Creates a new Sequancepivotbras. */
-  public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) {
+  public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot,GenericEntry forcebrasmonter, GenericEntry forcebrasdescendre,GenericEntry forcepivotmonter,GenericEntry forcepivotdescendre) {
 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new Bougerpivot(pivot, 10).unless(()->pivot.distance()>10),
+      new Bougerpivot(pivot, 10, forcepivotdescendre, forcepivotdescendre).unless(()->pivot.distance()>10),
-      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot)),
+      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot,forcepivotdescendre,forcepivotmonter)),
-      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras))
+      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras,forcebrasdescendre,forcebrasmonter))
       
       
     );

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

@@ -74,6 +74,7 @@ public void BrakeFerme(){
     teb.add(drive);
     teb.addDouble("distancerobot",this::distance);
     teb.addDouble("angle gyro", this::getpitch);
+    
   }
 
   @Override