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

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(), 0);
   }
 
   // Called once the command ends or is interrupted.

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

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

@@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  gratte.setenHaut(false);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -41,9 +43,7 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-    
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override

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

@@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    gratte.setenHaut(true);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -4,13 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 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);
@@ -25,15 +30,20 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>10) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
    }
    else if(basePilotable.getpitch()<-10) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 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); 
+     basePilotable.drive(0, 0, 0); 
    }
 }
 

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

@@ -27,7 +27,7 @@ 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);
+    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0);
   }
 
   // Called once the command ends or is interrupted.

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(), 0);
   }
 
   // Called once the command ends or is interrupted.