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

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

@@ -1,12 +1,12 @@
 package frc.robot;
 
 public class Constants {
-    public static int avantdroit = 0;
-    public static int avantgauche = 1;
-    public static int arrieredroit = 2;
-    public static int arrieregauche = 3;
+    public static int avantdroit = 1;
+    public static int avantgauche = 4;
+    public static int arrieredroit = 3;
+    public static int arrieregauche = 5;
     public static int BrasTelescopique = 4;
-    public static int pivot = 5;
+    public static int pivot = 0;
     
     //moteur
     public static int leverGratte = 0;

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

@@ -7,8 +7,8 @@ import edu.wpi.first.cameraserver.CameraServer;
 //import edu.wpi.first.cameraserver.CameraServer;
 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.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 //subsystems
@@ -33,6 +33,8 @@ import frc.robot.commands.bras.PivotBrasRentre;
 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.commands.bras.PivotChercheBas;
 import frc.robot.commands.bras.PivotChercheHaut;
 import frc.robot.commands.Cube;
@@ -49,7 +51,7 @@ Gratte gratte = new Gratte();
 BrasTelescopique brasTelescopique = new BrasTelescopique();
 Pince pince = new Pince();
 Pivot pivot = new Pivot();
-Limelight limelight = new Limelight();
+Limelight limelight = new Limelight();/** */
 //commands
 BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
 BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
@@ -79,31 +81,35 @@ public RobotContainer() {
 }
   
   private void configureBindings() {
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
+    },basePilotable));
     // 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.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
-    manette1.leftBumper().toggleOnTrue(aprilTag);
-    manette1.rightBumper().toggleOnTrue(tape);
+    manette1.leftBumper().toggleOnTrue(cube);
+    manette1.rightBumper().toggleOnTrue(cone);
     // manette 2
-    manette2.a().onTrue(pivoteBrasHaut);
-    manette2.b().onTrue(pivoteBrasBas);
-    manette2.x().onTrue(pivoteBrasMilieux);
-    manette2.y().onTrue(pivotBrasRentre);
+    manette2.y().whileTrue(gyro);
+    manette2.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     manette2.povRight().onTrue(pivotChercheBas);
     manette2.povLeft().onTrue(pivotChercheHaut);
-    manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.rightBumper().toggleOnTrue(aprilTag);
+    manette2.leftBumper().toggleOnTrue(tape);
   }
 
   public Command getAutonomousCommand() {
-    return new SequentialCommandGroup(
-      new PivoteBrasMilieux(brasTelescopique, pivot),
-      new OuvrePince(pince),
-      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
-      new Gyro(basePilotable)
-    );
+    return null;
+    //return new SequentialCommandGroup(
+      //new PivoteBrasMilieux(brasTelescopique, pivot),
+      //new OuvrePince(pince),
+      //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
+      //new Gyro(basePilotable)
+    //);
   }
 }

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

@@ -30,11 +30,19 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>4) 
    { 
+<<<<<<< HEAD
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+   }
+   else if(basePilotable.getpitch()<-4) 
+   { 
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+=======
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+>>>>>>> 3d2364b54822fb53a6cd71a0347d11baeef62001
    }
    else
    {

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

@@ -70,6 +70,13 @@ public void resetGyro(){
 
   @Override
   public void periodic() {
+    //teb .add("encodeuravantdroit",0.1);
+    //teb .add("encodeurarrieregauche",0.1);
+    //teb .add("encodeurarrieredroit",0.1);
+    //teb .add("encodeuravantgauche",0.1);  
+    //teb .add("distance",0.1);
+    //teb .add("brakedroit",0.1);
+    //teb .add("brakegauche", 0.1);
 
   }
 }