dashboard

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

@@ -10,6 +10,8 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -45,6 +47,7 @@ import frc.robot.subsystem.Pixy;
 
 
 public class RobotContainer {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   private final SendableChooser<Command> autoChooser;
   Drive drive = new Drive();
   Accumulateur accumulateur = new Accumulateur();
@@ -70,6 +73,7 @@ public class RobotContainer {
   AllumeLED allumeLED = new AllumeLED(LED);
   Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
+    dashboard.addCamera("limelight", "limelight","limelight.local:5800");
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
     autoChooser = AutoBuilder.buildAutoChooser();
@@ -98,6 +102,7 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand(){
-    return autoChooser.getSelected();
+    return autoChooser.getSelected()
+    ;
   }
 }

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

@@ -21,7 +21,9 @@ public class Accumulateur extends SubsystemBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
       dashboard.add("vitesseacc", 1)
-         .getEntry(); 
+      .withSize(1, 1)
+      .withPosition(4, 3)
+      .getEntry(); 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
   final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);

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

@@ -13,7 +13,9 @@ 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.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -23,6 +25,10 @@ public class Grimpeur extends SubsystemBase {
   // moteur
   
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  ShuffleboardLayout layout = Shuffleboard.getTab("dashboard")
+  .getLayout("grimpeur", BuiltInLayouts.kList)
+  .withSize(2,4)
+  .withPosition(1,1);
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
@@ -32,21 +38,11 @@ public class Grimpeur extends SubsystemBase {
   final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
   //fonction
   public Grimpeur() {
-    dashboard.add("limitgrimpeurd", droite())
+    layout.addBoolean("limitgrimpeurd", limitdroite::get);
-    .withSize(1, 1)
+    layout.addBoolean("limitgrimpeurg", limitdroite::get);
-    .withPosition(1, 5);
+    layout.add("grimpeurencodeurd", encoderd());
-    dashboard.add("limitgrimpeurd", droite())
+    layout.add("grimpeurencodeurg", encoderg());
-    .withSize(1, 1)
+    layout.add("pitchgyrogrimpeur", getpitch());
-    .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

@@ -8,6 +8,7 @@ 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.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -16,12 +17,16 @@ public class Guideur extends SubsystemBase {
   /** Creates a new Guideur. */
   
     ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+    ShuffleboardLayout layout = Shuffleboard.getTab("dashboard")
+    .getLayout("grimpeur")
+    .withSize(2, 2)
+    .withPosition(1, 3);
     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.addBoolean("limitguideurhaut", guideurhaut::get);
-        dashboard.add("limitguideurbas", bas());
+        dashboard.addBoolean("limitguideurbas", guideurbas::get);        
       }
       public void guider(double vitesse){
         guideur.set(vitesse);

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

@@ -18,9 +18,13 @@ public class Lanceur extends SubsystemBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
       dashboard.add("vitesse", 1)
+      .withSize(1, 1)
+      .withPosition(3, 3)
          .getEntry();
          private GenericEntry vitesseamp =
             dashboard.add("vitesseamp", 1)
+            .withSize(1, 1)
+            .withPosition(3, 4)
                .getEntry();
   public Lanceur() {