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

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

@@ -12,6 +12,7 @@ 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.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
@@ -22,7 +23,6 @@ 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;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
@@ -30,25 +30,17 @@ import frc.robot.commands.Cone;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
+import frc.robot.commands.Reculer;
 import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.OuvrePince;
 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.commands.bras.PivotChercheBas;
-import frc.robot.commands.bras.PivotChercheHaut;
-import frc.robot.commands.Cube;
-import frc.robot.commands.Tape;
 
 
 public class RobotContainer {
-<<<<<<< HEAD
   
-=======
-//CameraServer.startAutomaticCapture();
->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
@@ -57,7 +49,7 @@ 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);
@@ -81,12 +73,6 @@ 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();
-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);
-
 public RobotContainer() {
     chooser.setDefaultOption(enhaut, enhaut);
     chooser.addOption(enbas, enbas);
@@ -96,25 +82,16 @@ public RobotContainer() {
 
 
     configureBindings();
-    CameraServer.startAutomaticCapture();
+
     basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
     },basePilotable));
     
 }
-  
+
   private void configureBindings() {
-    basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX(), 0);
-    },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));
-<<<<<<< HEAD
     manette1.y().whileTrue(gyro);
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
@@ -145,27 +122,5 @@ public RobotContainer() {
     );
 
 
-=======
-    manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
-    manette1.leftBumper().toggleOnTrue(cube);
-    manette1.rightBumper().toggleOnTrue(cone);
-    // manette 2
-    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(aprilTag);
-    manette2.leftBumper().toggleOnTrue(tape);
-  }
-
-  public Command getAutonomousCommand() {
-    return null;
-    //return new SequentialCommandGroup(
-      //new PivoteBrasMilieux(brasTelescopique, pivot),
-      //new OuvrePince(pince),
-      //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
-      //new Gyro(basePilotable)
-    //);
->>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e
   }
 }

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

@@ -80,4 +80,6 @@ public void BrakeFerme(){
   public void periodic() {
   
   }
+public void drive(double d, double leftX) {
+}
 }

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

@@ -13,7 +13,10 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+<<<<<<< HEAD
 
+=======
+>>>>>>> aabe9b40ae896a36acdc9cd17a508016a3660a0a
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)

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

@@ -14,7 +14,10 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+<<<<<<< HEAD
 
+=======
+>>>>>>> aabe9b40ae896a36acdc9cd17a508016a3660a0a
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   
   // moteur