Merge branch 'brasTelescopiquev2' into 'main'

bras

See merge request pls5618/2023/robot!1

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

@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+
 import java.util.Map;
 
 import edu.wpi.first.cameraserver.CameraServer;
@@ -39,75 +40,63 @@ import frc.robot.commands.Gyro;
 import frc.robot.commands.Reculer;
 import frc.robot.commands.Tape;
 import frc.robot.commands.bras.BrasManuel;
+import frc.robot.commands.bras.DescendrePivotBras;
 import frc.robot.commands.bras.FermePince;
+import frc.robot.commands.bras.MonterPivotBras;
 import frc.robot.commands.bras.OuvrePince;
-import frc.robot.commands.bras.PivotBrasRentre;
-import frc.robot.commands.bras.PivotChercheBas;
-import frc.robot.commands.bras.PivotChercheHaut;
 import frc.robot.commands.bras.PivotManuel;
-import frc.robot.commands.bras.PivoteBrasBas;
-import frc.robot.commands.bras.PivoteBrasHaut;
-import frc.robot.commands.bras.PivoteBrasMilieux;
-
 
 public class RobotContainer {
 
-CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette1 = new CommandXboxController(0);
-CommandXboxController manette2 = new CommandXboxController(1);
+  CommandXboxController manette2 = new CommandXboxController(1);
 
-// dashboard
+  // dashboard
-SendableChooser<String> chooser = new SendableChooser<>();
+  SendableChooser<String> chooser = new SendableChooser<>();
-String enhaut = "en haut";
+  String enhaut = "en haut";
-String aumilieux = "au milieux";
+  String aumilieux = "au milieux";
-String enbas = "en bas";
+  String enbas = "en bas";
-String nulpart = "nul part";
+  String nulpart = "nul part";
-ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",BuiltInLayouts.kList)
+  ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
-.withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
+      .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
-GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry autobalance = layoutauto.add("choix balance", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry autosortir = layoutauto.add("choix sortir", false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
+  GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", 0).getEntry();
-GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
+  GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
-GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
+  GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 0).getEntry();
 
-// subsystems
+  // subsystems
-BasePilotable basePilotable = new BasePilotable();
+  BasePilotable basePilotable = new BasePilotable();
-Gratte gratte = new Gratte();
+  Gratte gratte = new Gratte();
-BrasTelescopique brasTelescopique = new BrasTelescopique();
+  BrasTelescopique brasTelescopique = new BrasTelescopique();
-Pince pince = new Pince();
+  Pince pince = new Pince();
-Pivot pivot = new Pivot();
+  Pivot pivot = new Pivot();
-Limelight limelight = new Limelight();
+  Limelight limelight = new Limelight();
 
-//commands
+  // commands
-BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
+  BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
-BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
+  BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
-GratteBaisser gratteBaisser = new GratteBaisser(gratte);
+  GratteBaisser gratteBaisser = new GratteBaisser(gratte);
-GratteMonte gratteMonte = new GratteMonte(gratte);
+  GratteMonte gratteMonte = new GratteMonte(gratte);
-Gyro gyro = new Gyro(basePilotable);
+  Gyro gyro = new Gyro(basePilotable);
-FermePince fermePince = new FermePince(pince);
+  FermePince fermePince = new FermePince(pince);
-OuvrePince ouvrePince = new OuvrePince(pince);
+  OuvrePince ouvrePince = new OuvrePince(pince);
-PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
+  Cone cone = new Cone(limelight, basePilotable, () -> -manette1.getLeftY());
-PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
+  Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0));
-PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
+  Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0));
-PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
+  Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0));
-Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+  Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
-Reculer reculers = new Reculer(basePilotable, ()->reculerdistances.getDouble(0));
+  Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
-Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0));
+  Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
-Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
+  PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getLeftX);
-PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
+  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftY);
-PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
-Cube cube = new Cube(limelight, basePilotable, null);
-Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
-Tape tape = new Tape(limelight, basePilotable, null);
-PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
-BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
 
-
+  public RobotContainer() {
-public RobotContainer() {
     chooser.addOption(enhaut, enhaut);
     chooser.addOption(enbas, enbas);
     chooser.addOption(aumilieux, aumilieux);
     chooser.addOption(nulpart, nulpart);
-    layoutauto.add("choix hauteur",chooser);
+    layoutauto.add("choix hauteur", chooser);
     configureBindings();
     CameraServer.startAutomaticCapture();
     basePilotable.setDefaultCommand(new RunCommand(() -> {
@@ -116,48 +105,58 @@ public RobotContainer() {
     brasTelescopique.setDefaultCommand(brasManuel);
     pivot.setDefaultCommand(pivotManuel);
   }
+
   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().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
+    manette1.x().onTrue(brakeOuvre);
-    manette1.leftBumper().toggleOnTrue(aprilTag);
+    manette1.b().onTrue(brakeFerme);
-    manette1.rightBumper().toggleOnTrue(tape);
+    manette1.leftBumper().whileTrue(aprilTag);
-    manette1.povUp().whileTrue(pivoteBrasHaut);
+    manette1.rightBumper().whileTrue(tape);
-    manette1.povDown().whileTrue(pivoteBrasBas);
+    manette1.povUp().whileTrue(creerCommandBras(51, -40));
-    manette1.povRight().whileTrue(pivoteBrasMilieux);
+    manette1.povDown().whileTrue(creerCommandBras(9, -14));
-    manette1.povLeft().whileTrue(pivotBrasRentre);
+    manette1.povRight().whileTrue(creerCommandBras(44, -17));
-    //manette 2
+    manette1.povLeft().whileTrue(creerCommandBras(0, 0));
-    manette2.povDown().onTrue(pivotChercheBas);
+    // manette 2
-    manette2.povUp().onTrue(pivotChercheHaut);
+    manette2.povDown().onTrue(creerCommandBras(9, -18));
-    manette2.rightBumper().toggleOnTrue(cube);
+    manette2.povUp().onTrue(creerCommandBras(44, 0));
-    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.rightBumper().whileTrue(cube);
+    manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
     manette2.b().whileTrue(gratteBaisser);
 
   }
-  //mode auto
+
+  private Command creerCommandBras(double distancePivot, double distanceBras) {
+    return Commands.either(
+        new MonterPivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
+        new DescendrePivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
+        () -> pivot.distance() < distancePivot);
+  }
+
   public Command getAutonomousCommand() {
     chooser.getSelected();
     autobalance.getBoolean(true);
-    return new SequentialCommandGroup(
+    return Commands.deadline(
+        Commands.waitSeconds(14.6),
+        new SequentialCommandGroup(
             Commands.select(Map.ofEntries(
-        Map.entry(enhaut,pivoteBrasHaut),
+                Map.entry(enhaut, creerCommandBras(51, -40)),
-        Map.entry(aumilieux,pivoteBrasMilieux),
+                Map.entry(aumilieux, creerCommandBras(9, -14)),
-        Map.entry(enbas,pivoteBrasBas),
+                Map.entry(enbas, creerCommandBras(44, -17)),
-        Map.entry(nulpart,pivotBrasRentre)
+                Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
-      ), chooser::getSelected),
+            new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
-      new OuvrePince(pince).unless(()->chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
-      new FermePince(pince).unless(()->chooser.getSelected().equals(nulpart)),
+            fermePince.unless(() -> chooser.getSelected().equals(nulpart)),
-      new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
+            creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
-      Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
+            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))
-      Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
+                .unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
-    ).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
+            Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
-
+        .andThen(brakeOuvre);
 
   }
 }

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 {
+public class Bougerbras extends CommandBase {
-  private BrasTelescopique brasTelescopique;
+  /** Creates a new bougerbras. */
-  private Pivot pivot;
+  double distance;
-  /** Creates a new PivotChercheHaut. */
+  BrasTelescopique brasTelescopique;
-  public PivotChercheHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
+  public Bougerbras(BrasTelescopique brasTelescopique,double distance) {
     this.brasTelescopique = brasTelescopique;
-    this.pivot = pivot;
+    this.distance = distance;
-    // Use addRequirements() here to declare subsystem dependencies.
     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()){
+    if(brasTelescopique.distance()>distance+0.5 ) {
-      brasTelescopique.ouvrir();
+      brasTelescopique.AvanceRecule(-0.3);
-      brasTelescopique.Reset();
+      
-      brasTelescopique.AvanceRecule(0);
     }
-    else{
+    else if(brasTelescopique.distance()<distance-0.5) {
       brasTelescopique.AvanceRecule(0.3);
     }
-    if (pivot.distance()<43.5){
+    else {
-      pivot.monteDescendre(0.5);
+      brasTelescopique.AvanceRecule(0);
-    }
-    else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.5);
-    }
-    else{
-      pivot.monteDescendre(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 {
+public class Bougerpivot extends CommandBase {
-  private BrasTelescopique brasTelescopique;
+  /** Creates a new Bougerpivot. */
-  private Pivot pivot;
+  Pivot pivot;
-  /** Creates a new PivotBrasRentre. */
+  double distance;
-  public PivotBrasRentre(BrasTelescopique brasTelescopique, Pivot pivot) {
+  public Bougerpivot(Pivot pivot,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() {
+  public void initialize() {}
-    brasTelescopique.fermer();
-  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(brasTelescopique.photocell()){
+    if(pivot.distance()>distance+0.5 ) {
-      brasTelescopique.ouvrir();
-      brasTelescopique.Reset();
-      brasTelescopique.AvanceRecule(0);
-    }
-    else{
-      brasTelescopique.AvanceRecule(0.5);
-    }
-  if(pivot.limitpivot()){
-      pivot.Reset();
-      pivot.monteDescendre(0);
-    }
-    else{
       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;
-  }
-}

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -51,6 +51,6 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-    
+    if(photocell())Reset();
   }
 }

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -42,6 +42,7 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
+    if(limitpivot())Reset();
   }