Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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

@@ -45,8 +45,7 @@ public class Constants {
     // Limit switch
     public static int guideurhaut = 0;
     public static int guideurbas = 1;
-    public static int limitacc = 2;
-    public static int limitacc2 = 3;
+    public static int photocellacc = 2;
     public static int limithaut = 4;
     public static int limitbas = 5;
 

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

@@ -37,6 +37,7 @@ import frc.robot.subsystem.Grimpeur;
 import frc.robot.subsystem.Guideur;
 import frc.robot.subsystem.LED;
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 import frc.robot.subsystem.Pixy;
 
 
@@ -51,11 +52,13 @@ public class RobotContainer {
   Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
-  Lancer lancer = new Lancer(lanceur);
+  Limelight limelight = new Limelight();
+  Lancer lancer = new Lancer(lanceur,limelight);
   LancerNote lancernote = new LancerNote(lanceur, accumulateur);
-  Lancerampli lancerampli = new Lancerampli(lanceur);
+  Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
+   //command
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   LED LED = new LED();

src/main/java/frc/robot/command/Lancer.java

@@ -9,14 +9,17 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
+  private Limelight limelight;
   private Lanceur lanceur;
-  public Lancer(Lanceur lanceur) {
+  public Lancer(Lanceur lanceur,Limelight limelight) {
+    this.limelight = limelight;
     this.lanceur = lanceur;
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur);
+    addRequirements(lanceur,limelight);
   }
 
   // Called when the command is initially scheduled.
@@ -26,7 +29,9 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(limelight.getv()){
     lanceur.lancerspeaker();
+    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/command/Lancerampli.java

@@ -9,15 +9,16 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 
 public class Lancerampli extends Command {
   /** Creates a new Lanceur. */
-
   private Lanceur lanceur;
-  
-  public Lancerampli(Lanceur lanceur) {
+  private Limelight limelight;
+  public Lancerampli(Lanceur lanceur,Limelight limelight) {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur);
+    addRequirements(lanceur, limelight);
+    this.limelight = limelight;
     this.lanceur = lanceur;
   }
 
@@ -28,7 +29,10 @@ public class Lancerampli extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lanceramp();
+    if(limelight.getv()){
+      lanceur.lanceramp();
+    }
+    
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/subsystem/Accumulateur.java

@@ -24,7 +24,7 @@ public class Accumulateur extends SubsystemBase {
          .getEntry(); 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
-  final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
+  final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);
     
   public void Deaccumuler(double vitesse){  
     Moteuracc2.set(vitesse);
@@ -34,7 +34,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc.setInverted(true);
   }
   public boolean limitswitch(){
-    return limitacc.get();
+    return photocellacc.get();
   }
   public Accumulateur() {
     

src/main/java/frc/robot/subsystem/Grimpeur.java

@@ -8,9 +8,12 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -18,7 +21,8 @@ import frc.robot.Constants;
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Acrocheur. */
   // moteur
-  public Grimpeur() {}
+  
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
@@ -27,6 +31,23 @@ public class Grimpeur extends SubsystemBase {
   final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre);
   final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
   //fonction
+  public Grimpeur() {
+    dashboard.add("limitgrimpeurd", droite())
+    .withSize(1, 1)
+    .withPosition(1, 5);
+    dashboard.add("limitgrimpeurd", droite())
+    .withSize(1, 1)
+    .withPosition(1, 4);
+    dashboard.add("grimpeurencodeurd", encoderd())
+    .withSize(1, 1)
+    .withPosition(1, 3);
+    dashboard.add("grimpeurencodeurg", encoderg())
+    .withSize(1, 1)
+    .withPosition(1, 2);
+    dashboard.add("pitchgyrogrimpeur", getpitch())
+    .withSize(1, 1)
+    .withPosition(1, 1);
+  }
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
 } 

src/main/java/frc/robot/subsystem/Guideur.java

@@ -7,17 +7,22 @@ package frc.robot.subsystem;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Guideur extends SubsystemBase {
   /** Creates a new Guideur. */
-  public Guideur() {}
   
+    ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
     final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
     final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
     final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
-
+      public Guideur() {
+        dashboard.add("limitguideurhaut", haut());
+        dashboard.add("limitguideurbas", bas());
+      }
       public void guider(double vitesse){
         guideur.set(vitesse);
       }