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

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

@@ -5,20 +5,30 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
 
-public class StablePlateform extends CommandBase {
-  /** Creates a new StablePlateform. */
-  public StablePlateform() {
+public class BrakeFerme extends CommandBase {
+
+  private BasePilotable basePilotable;
+
+  /** Creates a new BrakeFerme. */
+  public BrakeFerme(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    basePilotable.BrakeFerme();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    
+  }
 
   // Called once the command ends or is interrupted.
   @Override

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

@@ -0,0 +1,42 @@
+// 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.BasePilotable;
+
+public class BrakeOuvre extends CommandBase {
+
+  private BasePilotable basePilotable;
+
+  /** Creates a new BrakeFerme. */
+  public BrakeOuvre(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    basePilotable.BrakeOuvre();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+  }
+
+  // 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/Gyro.java

@@ -0,0 +1,49 @@
+// 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.BasePilotable;
+
+public class Gyro extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new Gyro. */
+  public Gyro(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // 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(basePilotable.getpitch()<10) 
+   { 
+    basePilotable.drive(0.4, 0, 0);
+   }
+   else if(basePilotable.getpitch()>-10) 
+   { 
+    basePilotable.drive(-0.4, 0, 0);
+   }
+   else
+   {
+     basePilotable.drive(0, 0, 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/PivotBrasRentre.java

@@ -0,0 +1,47 @@
+// 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 PivotBrasRentre extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotBrasRentre. */
+  public PivotBrasRentre(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()>1){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+    if (pivot.distance()>1){
+      pivot.monteDescendre(0.5);
+    }
+  }
+  
+  // 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

@@ -4,12 +4,22 @@
 
 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 PivoteBrasBas extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasBas. */
-  public PivoteBrasBas() {
+  public PivoteBrasBas(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.
@@ -18,12 +28,32 @@ public class PivoteBrasBas extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    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() {

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

@@ -5,11 +5,19 @@
 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 PivoteBrasHaut extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasHaut. */
-  public PivoteBrasHaut() {
+  public PivoteBrasHaut(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.
@@ -18,7 +26,26 @@ public class PivoteBrasHaut extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    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

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

@@ -5,11 +5,19 @@
 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 PivoteBrasMilieux extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasMilieux. */
-  public PivoteBrasMilieux() {
+  public PivoteBrasMilieux(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.
@@ -18,7 +26,27 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    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