çytn

simgui.json

@@ -1,7 +1,9 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/teb/DifferentialDrive[1]": "DifferentialDrive",
+      "/Shuffleboard/teb/auto/choix hauteur": "String Chooser"
     }
   },
   "NetworkTables": {

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

@@ -1,31 +1,33 @@
 package frc.robot;
 
 public class Constants {
-    public static int avantdroit = 1;
+    public static int avantdroit = 4;
-    public static int avantgauche = 4;
+    public static int avantgauche = 6;
     public static int arrieredroit = 3;
     public static int arrieregauche = 5;
-    public static int BrasTelescopique = 2;
+    public static int BrasTelescopique = 1;
-    public static int pivot = 0;
+    public static int pivot = 2;
     
     //moteur
-    public static int leverGratte = 0;
+
-    public static int baiserGratte = 1;
+
+    public static int GratteD = 7;
+    public static int GratteG = 8;
+
 
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-     public static int actuateur = 8;
+     public static int brakeouvre = 5;
-     public static int brakedroit = 3;
+     public static int brakeferme = 4;
-     public static int brakegauche = 4;
+     public static int brakewinchf = 3;
-     public static int brakewinchf = 5;
+     public static int brakewinchb = 2;
-     public static int brakewinchb = 5;
     // DIO
-    public static int limitbd = 0;
+    public static int limitbd = 2;
-    public static int limitbg = 2;
+    public static int limitbg = 4;
-    public static int limithd = 3;
+    public static int limithd = 1;
-    public static int limithg = 1;
+    public static int limithg = 3;
-    public static int photocell = 4;
+    public static int photocell = 0;
     public static int limitpivot = 5;
 
     

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

@@ -4,6 +4,7 @@
 
 package frc.robot;
 import java.util.Map;
+import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.networktables.GenericEntry;
@@ -14,8 +15,9 @@ 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;
 
 //subsystems
@@ -25,17 +27,25 @@ import frc.robot.subsystems.bras.BrasTelescopique;
 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.Avancer;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.Cone;
+import frc.robot.commands.Cube;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 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.FermePince;
 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;
@@ -45,6 +55,19 @@ 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();
@@ -65,7 +88,17 @@ 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 reculer = new Reculer(basePilotable);
+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);
+PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
+BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
+
 
 SendableChooser<String> chooser = new SendableChooser<>();
 String enhaut = "en bas";
@@ -82,31 +115,33 @@ public RobotContainer() {
     chooser.addOption(aumilieux, aumilieux);
     chooser.addOption(nulpart, nulpart);
     layoutauto.add("choix hauteur",chooser);
-
-
     configureBindings();
-
+    CameraServer.startAutomaticCapture();
     basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+      basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
     }, basePilotable));
-    
+    brasTelescopique.setDefaultCommand(brasManuel);
+    pivot.setDefaultCommand(pivotManuel);
   }
-
   private void configureBindings() {
+    // manette 1
     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.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette1.povUp().whileTrue(pivoteBrasHaut);
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
+    manette1.povDown().whileTrue(pivoteBrasBas);
-    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
+    manette1.povRight().whileTrue(pivoteBrasMilieux);
-    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
+    manette1.povLeft().whileTrue(pivotBrasRentre);
-    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
+    //manette 2
-    manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
+    manette2.povDown().onTrue(pivotChercheBas);
-    manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
+    manette2.povUp().onTrue(pivotChercheHaut);
-    manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
+    manette2.leftBumper().toggleOnTrue(cone);
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    manette2.y().whileTrue(gyro);
+    manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
+    manette2.a().whileTrue(gratteMonte);
+    manette2.b().whileTrue(gratteBaisser);
 
   }
 
@@ -114,15 +149,17 @@ public RobotContainer() {
     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(14.6)).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/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.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
@@ -26,16 +27,16 @@ public class GratteBaisser extends CommandBase {
   @Override
   public void execute() {
     if(gratte.basd()){
-      gratte.baiser(0);
+      gratte.baiserd(0);
     }
     else{
-      gratte.baiser(0.5);
+      gratte.baiserd(0.5);
     }
     if(gratte.basg()){
-      gratte.baiser(0);
+      gratte.baiserg(0);
     }
     else{
-      gratte.baiser(0.5);
+      gratte.baiserg(0.5);
     }
    
 
@@ -43,7 +44,10 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    gratte.baiserd(0);
+    gratte.baiserg(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
@@ -27,22 +28,25 @@ public class GratteMonte extends CommandBase {
   @Override
   public void execute() {
     if(gratte.hautd()){
-      gratte.Lever(0.5);
+      gratte.Leverd(0);
     }
     else{
-      gratte.Lever(0.5);
+      gratte.Leverd(0.5);
     }
     if(gratte.hautg()) {
-      gratte.Lever(0.5);
+      gratte.Leverg(0);
     }
     else{
-      gratte.Lever(0.5);
+      gratte.Leverg(0.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    gratte.Leverd(0);
+    gratte.Leverg(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -10,12 +10,9 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Gyro extends CommandBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private BasePilotable basePilotable;
   /** Creates a new Gyro. */
   public Gyro(BasePilotable basePilotable) {
-    teb.add("angleGyro", 0.1);
-    teb.add("vitesseGyro", 0.1);
     this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
@@ -28,22 +25,17 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()>10) 
+  if(basePilotable.getpitch()>6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
-   else if(basePilotable.getpitch()<-10) 
+   else if(basePilotable.getpitch()<-6) 
    { 
-    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);
-   }
-   else if(basePilotable.getpitch()<-4) 
-   { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
    }
    else
    {
-     basePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0); 
    }
 }
 

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

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.function.DoubleSupplier;
+
 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 +30,7 @@ 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 +40,6 @@ 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/commands/bras/BrasManuel.java

@@ -0,0 +1,44 @@
+// 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 java.util.function.DoubleSupplier;
+
+
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+
+public class BrasManuel extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new BrasManuel. */
+  public BrasManuel(BrasTelescopique brasTelescopique,DoubleSupplier doubleSupplier) {
+    this.brasTelescopique = brasTelescopique;
+    this.doubleSupplier = doubleSupplier;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+  }
+
+  // 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() {
+    brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+  }
+
+  // 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

@@ -22,22 +22,17 @@ public class PivotBrasRentre extends CommandBase {
 
   // 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.distance()>1){
+  if(brasTelescopique.photocell()){
-      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.ouvrir();
-      brasTelescopique.fermer();
-    }
-    if (pivot.distance()>1){
-      pivot.monteDescendre(0.5);
-    }
-    else if(brasTelescopique.photocell()){
       brasTelescopique.Reset();
       brasTelescopique.AvanceRecule(0);
-      brasTelescopique.ouvrir();
     }
     else{
       brasTelescopique.AvanceRecule(0.5);
@@ -47,13 +42,17 @@ public class PivotBrasRentre extends CommandBase {
       pivot.monteDescendre(0);
     }
     else{
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(-0.3);
     }
   }
   
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -22,27 +22,29 @@ public class PivotChercheBas extends CommandBase {
 
   // 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.distance()<10){
+    if(brasTelescopique.distance()>-17.5){
-      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
+  else if(brasTelescopique.distance()<-19.5) {
-    brasTelescopique.AvanceRecule(-0.5);
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
+    if (pivot.distance()<8.5){
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(0.3);
     }
-    else if(pivot.distance()>11) {
+    else if(pivot.distance()>10.5) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(-0.3);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +53,11 @@ public class PivotChercheBas extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.fermer();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -22,27 +22,26 @@ public class PivotChercheHaut extends CommandBase {
 
   // 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.distance()<10){
+    if(brasTelescopique.photocell()){
-      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.ouvrir();
-      brasTelescopique.fermer();
+      brasTelescopique.Reset();
-    }
+      brasTelescopique.AvanceRecule(0);
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
   }
     else{
-      brasTelescopique.AvanceRecule(0);
+      brasTelescopique.AvanceRecule(0.3);
-      brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
+    if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>11) {
+    else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +50,11 @@ public class PivotChercheHaut extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/commands/bras/PivotManuel.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.bras;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotManuel extends CommandBase {
+  private Pivot pivot;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new PivotManuel. */
+  public PivotManuel(Pivot pivot,DoubleSupplier doubleSupplier) {
+    this.pivot = pivot;
+    this.doubleSupplier = doubleSupplier;
+    // Use addRequirements() here to declare subsystem dependencies.
+    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() {
+    pivot.monteDescendre(doubleSupplier.getAsDouble());
+  }
+
+  // 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

@@ -24,27 +24,29 @@ public class PivoteBrasBas extends CommandBase {
 
   // 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.distance()<10){
+    if(brasTelescopique.distance()>-13.5){
-      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
+  else if(brasTelescopique.distance()<-15.5) {
-    brasTelescopique.AvanceRecule(-0.5);
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
+    if (pivot.distance()<8.5){
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(0.3);
     }
-    else if(pivot.distance()>11) {
+    else if(pivot.distance()>10.5) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(-0.3);
     }
     else{
       pivot.monteDescendre(0);
@@ -55,7 +57,11 @@ public class PivoteBrasBas extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {

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

@@ -22,27 +22,29 @@ public class PivoteBrasHaut extends CommandBase {
 
   // 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.distance()<10){
+    if(brasTelescopique.distance()>-39.5){
-      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
+  else if(brasTelescopique.distance()<41.5) {
-    brasTelescopique.AvanceRecule(-0.5);
+    brasTelescopique.AvanceRecule(-0.15);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
+    if (pivot.distance()<50.5){
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>11) {
+    else if(pivot.distance()>52.5) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +53,11 @@ public class PivoteBrasHaut extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -22,27 +22,29 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // 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.distance()<10){
+    if(brasTelescopique.distance()>-16.5){
-      brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
+  else if(brasTelescopique.distance()<-17.5) {
-    brasTelescopique.AvanceRecule(-0.5);
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
+    if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>11) {
+    else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -52,7 +54,11 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.ouvrir();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -13,9 +13,7 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -30,23 +28,21 @@ public class BasePilotable extends SubsystemBase {
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   
   //piston
-  private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
+  private DoubleSolenoid brake = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakeouvre, Constants.brakeferme);
-  private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+
-  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  double pitchoffset = 0;
-  .withSize(2, 2);
+
-  private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
+  private AHRS gyroscope = new AHRS();
    public double getpitch() {
-    return gyroscope.getPitch();
+    return -gyroscope.getPitch() + pitchoffset;
   }
 
-  public void drive(double xSpeed, double zRotation, int i){
+  public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
-    teb .add ("distance",0.1);
     return (-avantdroit.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
     -arrieredroit.getEncoder().getPosition()
@@ -59,27 +55,25 @@ public class BasePilotable extends SubsystemBase {
     arrieregauche.getEncoder().setPosition(0);
   }
   public void resetGyro(){
-    {gyroscope.reset();
+    pitchoffset = gyroscope.getPitch();
-    }
   } 
 
 public void BrakeOuvre(){
-  brakedroit.set(Value.kForward);
+  brake.set(Value.kForward);
-  brakegauche.set(Value.kForward);
 }
 public void BrakeFerme(){
-  brakedroit.set(Value.kReverse);
+  brake.set(Value.kReverse);
-  brakegauche.set(Value.kReverse);
 }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
+    teb.add(drive);
+    teb.addDouble("distancerobot",this::distance);
+    teb.addDouble("angle gyro", this::getpitch);
   }
 
   @Override
   public void periodic() {
   
   }
-public void drive(double d, double leftX) {
-}
 }

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

@@ -13,12 +13,13 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
-  private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
+  private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.GratteD);  
-  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
+  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.GratteG);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@@ -49,19 +50,25 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   }
  
   public Gratte() { 
-    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.addBoolean ("limitbd", this::basd);
-    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.addBoolean ("limithg", this::hautg);
-    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.addBoolean ("limithd", this::hautd);
-    limitswitchgratte.add ("limitbg", 0.1);
+    limitswitchgratte.addBoolean ("limitbg", this::basg);
   }
-  public void Lever(double vitesse){
+  public void Leverd(double vitesse){
-    Gratted.set(vitesse);
-    Gratteg.set(vitesse);
-  }
-  public void baiser(double vitesse){
     Gratted.set(-vitesse);
+    
+  }
+  public void Leverg(double vitesse){
     Gratteg.set(-vitesse);
   }
+  public void baiserd(double vitesse){
+    Gratted.set(vitesse);
+  }
+  public void baiserg(double vitesse){
+    Gratteg.set(vitesse);
+  }
+  
   @Override
   public void periodic(){
  }

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

@@ -5,8 +5,7 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
@@ -17,12 +16,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
 public class Limelight extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+ 
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
     CameraServer.startAutomaticCapture();
-    teb .add("limelight", 0.1);
     PortForwarder.add(5800, "photonvision.local", 5800);
   }
 

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

@@ -15,24 +15,19 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
-  .getLayout("layout", BuiltInLayouts.kList)
-  .withSize(2, 2);
-  
-ShuffleboardLayout bras = Shuffleboard.getTab("teb")
   .getLayout("bras", BuiltInLayouts.kList)
   .withSize(2, 2);
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");  
+  
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {
-    teb .add("photocell",0.1);
+    layout .addBoolean("photocell",this::photocell);
-    teb .add("winch",0.1);
+    layout .addDouble("encodeur",this::distance);
-    teb .add("encodeur",0.1);}
+  }
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
   private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);

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

@@ -14,6 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   
   // moteur
@@ -25,8 +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(){
@@ -37,7 +38,7 @@ public class Pivot extends SubsystemBase {
     
   }
   public boolean limitpivot(){
-    return limitpivot.get();
+    return !limitpivot.get();
   }
   @Override
   public void periodic() {
@@ -46,9 +47,8 @@ public class Pivot extends SubsystemBase {
   
  
 
-  {
+
-  teb.add ("encodeur pivot",0.1);
+
- }
 }