Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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

@@ -45,7 +45,7 @@ import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.MonterPivotBras;
 import frc.robot.commands.bras.OuvrePince;
 import frc.robot.commands.bras.PivotManuel;
-
+import frc.robot.commands.ActiverLimeLight;
 public class RobotContainer {
 
   CommandXboxController manette1 = new CommandXboxController(0);
@@ -88,8 +88,14 @@ public class RobotContainer {
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
   Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
+<<<<<<< HEAD
   PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getRightY);
   BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getRightX);
+=======
+  PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
+  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
+  ActiverLimeLight activerLimeLight = new ActiverLimeLight(limelight);
+>>>>>>> 1da49837db76e3ae31f03d0e1593aec704cc02df
 
   public RobotContainer() {
     chooser.addOption(enhaut, enhaut);
@@ -108,7 +114,7 @@ public class RobotContainer {
 
   private void configureBindings() {
     // manette 1
-    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer, pince));
+    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().onTrue(brakeOuvre);
     manette1.b().onTrue(brakeFerme);
     manette1.leftBumper().whileTrue(aprilTag);
@@ -117,7 +123,12 @@ public class RobotContainer {
     manette1.povDown().whileTrue(creerCommandBras(9, -14));
     manette1.povRight().whileTrue(creerCommandBras(44, -17));
     manette1.povLeft().whileTrue(creerCommandBras(0, 0));
+<<<<<<< HEAD
     // manette 2
+=======
+    manette1.y().whileTrue(activerLimeLight);
+    //manette 2
+>>>>>>> 1da49837db76e3ae31f03d0e1593aec704cc02df
     manette2.povDown().whileTrue(creerCommandBras(9, -18));
     manette2.povUp().whileTrue(creerCommandBras(44, 0));
     manette2.rightBumper().whileTrue(cube);
@@ -149,12 +160,11 @@ public class RobotContainer {
                 Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
             new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
-            fermePince.unless(() -> chooser.getSelected().equals(nulpart)),
+           new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
             Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)),
-            new Avancer(basePilotable, () -> avancerdistance.getDouble(0))
+            new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
-                .unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
             Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
         .andThen(brakeOuvre);
 

src/main/java/frc/robot/commands/ActiverLimeLight.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;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Limelight;
+
+public class ActiverLimeLight extends CommandBase {
+ private Limelight limelight;
+  /** Creates a new ActiverLimeLight. */
+  public ActiverLimeLight(Limelight limelight) {
+    this.limelight = limelight;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(limelight);
+  }
+
+  // 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() {
+    limelight.joueurhumain();
+  }
+
+  // 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/subsystems/Limelight.java

@@ -56,6 +56,9 @@ public class Limelight extends SubsystemBase {
     limelight.setLED(VisionLEDMode.kOff);
     limelight.setDriverMode(true);
   }
+  public void joueurhumain(){
+    limelight.setLED(VisionLEDMode.kOff);
+  }
   @Override
   public void periodic() {
   }