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

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

@@ -7,7 +7,6 @@ package frc.robot.subsystems;
 import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
@@ -33,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, int i){
+  public void drive(double xSpeed, double zRotation, double d){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

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

@@ -5,18 +5,14 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-
-
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
-
 import edu.wpi.first.wpilibj.DigitalInput;
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+=======
+>>>>>>> b20ba544a81d82752f6f8e390de38cbcfdc79f08
 import frc.robot.Constants;
 
-
-
 public class Gratte extends SubsystemBase {
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);

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

@@ -4,13 +4,44 @@
 
 package frc.robot.subsystems;
 
+<<<<<<< HEAD
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+=======
+import org.photonvision.PhotonCamera;
+import org.photonvision.common.hardware.VisionLEDMode;
+
+import edu.wpi.first.net.PortForwarder;
+>>>>>>> b20ba544a81d82752f6f8e390de38cbcfdc79f08
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+
 public class Limelight extends SubsystemBase {
+  PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
-  public Limelight() {}
+  public Limelight() {
+    PortForwarder.add(5800, "photonvision.local", 5800);
+  }
+
+  public void cube()  {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(3);
+  }
+
+  public void cone() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(2);
+  }
+
+  public void apriltag() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(0);
+  }
+
+  public void tape() {
+    limelight.setLED(VisionLEDMode.kOn);
+    limelight.setPipelineIndex(1);
+  }
 
   @Override
   public void periodic() {

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

@@ -8,6 +8,7 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -15,6 +16,7 @@ public class BrasTelescopique extends SubsystemBase {
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
+  private DigitalInput photocell = new DigitalInput(Constants.photocell);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -24,7 +26,9 @@ public class BrasTelescopique extends SubsystemBase {
   public void Reset() {
     Winch.getEncoder().setPosition(0);
   }
-
+  public boolean photocell(){
+    return photocell.get();
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -4,14 +4,17 @@
 
 package frc.robot.subsystems.bras;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
-import static frc.robot.Constants.*;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
   // moteur
-  private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
+  private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
+  private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
 
   // function
   public void monteDescendre(double vitesse) {
@@ -23,6 +26,10 @@ public class Pivot extends SubsystemBase {
   }
   public void Reset(){
     pivot.getEncoder().setPosition(0);
+    
+  }
+  public boolean limitpivot(){
+    return limitpivot.get();
   }
   @Override
   public void periodic() {