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

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

@@ -0,0 +1,40 @@
+// 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) {
+    limelight.joueurhumain1();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -7,9 +7,6 @@ package frc.robot.commands;
 
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
@@ -33,12 +30,14 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.3,0);
+    basePilotable.drive(0.4,0);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    basePilotable.drive(0,0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -3,6 +3,7 @@
 // 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.Gratte;
 
@@ -19,23 +20,23 @@ public class GratteBaisser extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-  gratte.setenHaut(false);
+ 
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     if(gratte.basd()){
-      gratte.baiserd(0);
+      gratte.bougerd(0);
     }
     else{
-      gratte.baiserd(0.5);
+      gratte.bougerd(0.3);
     }
     if(gratte.basg()){
-      gratte.baiserg(0);
+      gratte.bougerg(0);
     }
     else{
-      gratte.baiserg(0.5);
+      gratte.bougerg(0.3);
     }
    
 
@@ -44,8 +45,8 @@ public class GratteBaisser extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    gratte.baiserd(0);
-    gratte.baiserg(0);
+    gratte.bougerd(0);
+    gratte.bougerg(0);
   }
 
   // Returns true when the command should end.

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

@@ -21,31 +21,30 @@ public class GratteMonte extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    gratte.setenHaut(true);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     if(gratte.hautd()){
-      gratte.Leverd(0);
+      gratte.bougerd(0);
     }
     else{
-      gratte.Leverd(0.5);
+      gratte.bougerd(-0.3);
     }
     if(gratte.hautg()) {
-      gratte.Leverg(0);
+      gratte.bougerg(0);
     }
     else{
-      gratte.Leverg(0.5);
+      gratte.bougerg(-0.3);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    gratte.Leverd(0);
-    gratte.Leverg(0);
+    gratte.bougerd(0);
+    gratte.bougerg(0);
   }
 
   // Returns true when the command should end.

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

@@ -26,11 +26,11 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
    }
    else
    {

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

@@ -35,7 +35,9 @@ public class Reculer extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    basePilotable.drive(0,0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -32,7 +32,7 @@ public class Tape extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -29,10 +29,12 @@ public class BrasManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(doubleSupplier.getAsDouble()>0.2 && doubleSupplier.getAsDouble()<-0.2){
-      brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+    if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
+      brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble()*0.5);
     }
-   
+   else{
+    brasTelescopique.AvanceRecule(0);
+   }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -0,0 +1,27 @@
+// 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 +1,30 @@
+// 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.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 SequentialCommandGroup {
+  /** 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 Bougerpivot(pivot, 10).unless(()->pivot.distance()>10),
+      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot)),
+      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras))
+      
+      
+    );
+  }
+}

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/commands/bras/PivotManuel.java

@@ -27,10 +27,14 @@ public class PivotManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(doubleSupplier.getAsDouble()>0.2 && doubleSupplier.getAsDouble()<-0.2){
-      pivot.monteDescendre(doubleSupplier.getAsDouble());}
+    if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
+      pivot.monteDescendre(-doubleSupplier.getAsDouble()*0.5)
+      ;}
+      else{
+        pivot.monteDescendre(0);
+       }
   }
-
+  
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}

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

@@ -31,21 +31,21 @@ public class PivoteBrasBas extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-13.5){
+    if(brasTelescopique.distance()>-8.5){
       brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-15.5) {
+  else if(brasTelescopique.distance()<-9.5) {
     brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<8.5){
+    if (pivot.distance()<12.5){
       pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>10.5) {
+    else if(pivot.distance()>13.5) {
       pivot.monteDescendre(-0.4);
     }
     else{

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

@@ -29,21 +29,21 @@ public class PivoteBrasHaut extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-39.5){
+    if(brasTelescopique.distance()>-36.5){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-41.5) {
+  else if(brasTelescopique.distance()<-37.5) {
     brasTelescopique.AvanceRecule(-0.15);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<50.5){
+    if (pivot.distance()<52.5){
       pivot.monteDescendre(0.5);
     }
-    else if(pivot.distance()>52.5) {
+    else if(pivot.distance()>53.5) {
       pivot.monteDescendre(-0.5);
     }
     else{

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

@@ -29,11 +29,11 @@ public class PivoteBrasMilieux extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-16.5){
+    if(brasTelescopique.distance()>-11){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-17.5) {
+  else if(brasTelescopique.distance()<-13) {
     brasTelescopique.AvanceRecule(0.15);
     }
     else {