zdfgbg

networktables.json

@@ -1 +1,26 @@
-
+[
+  {
+    "name": "/Shuffleboard/teb/auto/reculerdistancesortir",
+    "type": "double",
+    "value": -66.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/teb/auto/reculerdistancebalance",
+    "type": "double",
+    "value": -31.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/teb/auto/avancer",
+    "type": "double",
+    "value": -35.0,
+    "properties": {
+      "persistent": true
+    }
+  }
+]

networktables.json.bck

@@ -0,0 +1 @@
+

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

@@ -93,9 +93,9 @@ Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0))
 Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
 PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
 PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
-Cube cube = new Cube(limelight, basePilotable, null);
+Cube cube = new Cube(limelight, basePilotable, ()-> manette1.getLeftY());
-Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
+Apriltag aprilTag = new Apriltag(limelight, basePilotable,()-> manette1.getLeftY());
-Tape tape = new Tape(limelight, basePilotable, null);
+Tape tape = new Tape(limelight, basePilotable, ()-> manette1.getLeftY());
 PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
 BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
 
@@ -119,8 +119,8 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().onTrue(brakeOuvre);
     manette1.b().onTrue(brakeFerme);
-    manette1.leftBumper().toggleOnTrue(aprilTag);
+    manette1.leftBumper().whileTrue(aprilTag);
-    manette1.rightBumper().toggleOnTrue(tape);
+    manette1.rightBumper().whileTrue(tape);
     manette1.povUp().whileTrue(pivoteBrasHaut);
     manette1.povDown().whileTrue(pivoteBrasBas);
     manette1.povRight().whileTrue(pivoteBrasMilieux);
@@ -128,8 +128,8 @@ public RobotContainer() {
     //manette 2
     manette2.povDown().onTrue(pivotChercheBas);
     manette2.povUp().onTrue(pivotChercheHaut);
-    manette2.rightBumper().toggleOnTrue(cube);
+    manette2.rightBumper().whileTrue(cube);
-    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
@@ -154,9 +154,9 @@ public RobotContainer() {
       new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
       Commands.waitSeconds(1),
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
-      avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
+      avancer.unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
-    )).andThen(new InstantCommand(basePilotable::BrakeOuvre));
+    )).andThen(new InstantCommand(basePilotable::BrakeOuvre,basePilotable));
 
 
   }

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

@@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(-0.5,0);
+    basePilotable.drive(-0.4,0);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -65,7 +65,7 @@ public class PivoteBrasBas extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<8.5 && pivot.distance()>10.5;
+    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-14.5 && pivot.distance()<8.5 && pivot.distance()>9.5;
 
   }
 }

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

@@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.7);
+      pivot.monteDescendre(0.6);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.7);
+      pivot.monteDescendre(-0.6);
     }
     else{
       pivot.monteDescendre(0);

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

@@ -47,7 +47,7 @@ public class Limelight extends SubsystemBase {
   public double getYaw() {
     var result = limelight.getLatestResult();
     if(result.hasTargets()){
-    return  result.getBestTarget().getYaw();
+    return   -result.getBestTarget().getYaw()/60;
     }
     return 0;