Merge branch 'main' of https:re

simgui.json

@@ -1,7 +1,8 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/teb/auto/choix hauteur": "String Chooser"
     }
   },
   "NetworkTables": {

src/main/java/frc/robot/Constants.java

@@ -6,24 +6,24 @@ public class Constants {
     public static int arrieredroit = 3;
     public static int arrieregauche = 5;
     public static int BrasTelescopique = 2;
-    public static int pivot = 0;
+    public static int pivot = 6;
     
     //moteur
+
+
+    public static int baiserGratte = 8;
     public static int leverGratte = 0;
-    public static int baiserGratte = 1;
-<<<<<<< HEAD
     public static int baisserGratte = 2;
-=======
+
->>>>>>> 23806ebfa2db43d63673f9b4cfc37aa3b9b23491
 
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-     public static int actuateur = 8;
+     public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
      public static int brakewinchf = 5;
-     public static int brakewinchb = 5;
+     public static int brakewinchb = 6;
     // DIO
     public static int limitbd = 0;
     public static int limitbg = 2;

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

@@ -3,20 +3,22 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-import org.photonvision.estimation.CameraTargetRelation;
+import java.util.Map;
 
 import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import java.util.Map;
 import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+<<<<<<< HEAD
 
 //subsystems
 import frc.robot.subsystems.BasePilotable;
@@ -26,6 +28,10 @@ import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
 import frc.robot.subsystems.Limelight;
 import frc.robot.commands.Apriltag;
+=======
+import frc.robot.commands.Apriltag;
+import frc.robot.commands.Avancer;
+>>>>>>> de5b5213cba2b66ec7b8cc5e73c1bf9123dd259b
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
@@ -44,12 +50,32 @@ import frc.robot.commands.bras.PivotChercheHaut;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+//subsystems
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Gratte;
+import frc.robot.subsystems.Limelight;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
 
 
 public class RobotContainer {
   
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
+
+SendableChooser<String> chooser = new SendableChooser<>();
+String enhaut = "en haut";
+String aumilieux = "au milieux";
+String enbas = "en bas";
+String nulpart = "nul part";
+ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",BuiltInLayouts.kList)
+.withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
+GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
+GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
+GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
 Gratte gratte = new Gratte();
@@ -70,22 +96,17 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+Reculer reculers = new Reculer(basePilotable, ()->reculerdistances.getDouble(0));
+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);
 Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
 Tape tape = new Tape(limelight, basePilotable, null);
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-Reculer reculer = new Reculer(basePilotable);
 
-SendableChooser<String> chooser = new SendableChooser<>();
+
-String enhaut = "en bas";
+
-String aumilieux = "au milieux";
-String enbas = "en bas";
-String nulpart = "nul part";
-ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto");
-GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry();
-GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry();
 public RobotContainer() {
     chooser.setDefaultOption(enhaut, enhaut);
     chooser.addOption(enbas, enbas);
@@ -94,38 +115,53 @@ public RobotContainer() {
     layoutauto.add("choix hauteur",chooser);
     configureBindings();
     CameraServer.startAutomaticCapture();
+<<<<<<< HEAD
     teb.add (CameraServer.startAutomaticCapture(null, 0));
       basePilotable.setDefaultCommand(new RunCommand()-> 
       basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0));
       
     }
+=======
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+    }));
+  }
+>>>>>>> de5b5213cba2b66ec7b8cc5e73c1bf9123dd259b
   private void configureBindings() {
     // manette 1
-    manette1.povDown().onTrue(pivoteBrasHaut);
-    manette1.povUp().onTrue(pivoteBrasBas);
-    manette1.povLeft().onTrue(pivoteBrasMilieux);
-    manette1.povRight().onTrue(pivotBrasRentre);
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
-    manette1.y().whileTrue(gyro);
+    manette1.leftBumper().toggleOnTrue(aprilTag);
-    manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
+    manette1.rightBumper().toggleOnTrue(tape);
-    
+    manette1.povUp().onTrue(pivoteBrasHaut);
-    
+    manette1.povDown().onTrue(pivoteBrasBas);
+    manette1.povRight().onTrue(pivoteBrasMilieux);
+    manette1.povLeft().onTrue(pivotBrasRentre);
+    //manette 2
+    manette2.povRight().onTrue(pivotChercheBas);
+    manette2.povLeft().onTrue(pivotChercheHaut);
+    manette2.rightBumper().toggleOnTrue(cube);
+    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.y().whileTrue(gyro);
+    manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
+    manette2.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
   }
 
   public Command getAutonomousCommand() {
     chooser.getSelected();
     autobalance.getBoolean(true);
     return new SequentialCommandGroup(
-      Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)),
-      Commands.either(reculer, Commands.none(),()-> autosortir.getBoolean(true)),
       Commands.select(Map.ofEntries(
         Map.entry(enhaut,pivoteBrasHaut),
-        Map.entry(aumilieux,null),
+        Map.entry(aumilieux,pivoteBrasMilieux),
-        Map.entry(enbas,null),
+        Map.entry(enbas,pivoteBrasBas),
-        Map.entry(nulpart,null)
+        Map.entry(nulpart,pivotBrasRentre)
-      ), chooser::getSelected)
+      ), chooser::getSelected),
-    );
+      ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
+      avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
+      Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
+    ).deadlineWith(Commands.waitSeconds(14)).andThen(brakeOuvre);
 
 
   }

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(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -0,0 +1,48 @@
+// 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 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;
+
+public class Avancer extends CommandBase {
+  BasePilotable basePilotable;
+  DoubleSupplier distance;
+  /** Creates a new Reculer. */
+  public Avancer(BasePilotable basePilotable, DoubleSupplier distance) {
+    this.basePilotable = basePilotable;
+    this.distance = distance;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    basePilotable.Reset();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(0.3,0);
+  }
+
+  // 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 basePilotable.distance()>distance.getAsDouble();
+  }
+}

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

@@ -32,7 +32,7 @@ public class Cone extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -32,7 +32,7 @@ public class Cube extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -30,20 +30,20 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>10) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-10) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else
    {
-     basePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0); 
    }
 }
 

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

@@ -5,15 +5,21 @@
 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;
 
 public class Reculer extends CommandBase {
   BasePilotable basePilotable;
+  DoubleSupplier distance;
   /** Creates a new Reculer. */
-  public Reculer(BasePilotable basePilotable) {
+  public Reculer(BasePilotable basePilotable, DoubleSupplier distance) {
     this.basePilotable = basePilotable;
+    this.distance = distance;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
   }
@@ -27,7 +33,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0);
+    basePilotable.drive(-0.3,0);
   }
 
   // Called once the command ends or is interrupted.
@@ -37,6 +43,6 @@ public class Reculer extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return basePilotable.distance()<distance.getAsDouble();
   }
 }

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(), 0);
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -42,7 +42,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, int i){
+  public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
@@ -80,6 +80,4 @@ public void BrakeFerme(){
   public void periodic() {
   
   }
-public void drive(double d, double leftX) {
-}
 }

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

@@ -26,8 +26,8 @@ public class Pivot extends SubsystemBase {
     pivot.set (vitesse);
   } 
   public Pivot(){
-    teb .add ("encodeurpivot",0.1);
+    teb.addDouble("encodeurpivot",this::distance);
-    teb .add ("limitpivot",0.1);
+    teb .addBoolean ("limitpivot",this::limitpivot);
   }
   // encodeur
   public double distance(){
@@ -47,9 +47,8 @@ public class Pivot extends SubsystemBase {
   
  
 
-  {
+
-  teb.add ("encodeur pivot",0.1);
+
- }
 }