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

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

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Grimpeur;
+
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    grimpeur.resetencodeurd();
+    grimpeur.resetencodeurg();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.droite()){
+      grimpeur.resetencodeurd();
+      grimpeur.gauche(0);
+    }
+    if(grimpeur.gauche()){
+      grimpeur.resetencodeurg();
+      grimpeur.gauche(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.droit(0);
+    grimpeur.gauche(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -7,10 +7,10 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystem.Grimpeur;
 
-public class GrimpeurHaut extends Command {
+public class GrimpeurHautDroit extends Command {
   private Grimpeur grimpeur;
   /** Creates a new GrimpeurHaut. */
-  public GrimpeurHaut(Grimpeur grimpeur) {
+  public GrimpeurHautDroit(Grimpeur grimpeur) {
     this.grimpeur = grimpeur;
     addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -18,17 +18,35 @@ public class GrimpeurHaut extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    grimpeur.resetencodeurd();
+    grimpeur.resetencodeurg();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     
+  if(grimpeur.encoderd()>261 ){
+    grimpeur.droit(0);
+  }
+  else if(grimpeur.getpitch()<-15){
+    grimpeur.droit(-0.6);
+    
+  }
+  else if(grimpeur.getpitch()>15){
+    grimpeur.droit(0.6);
+  }
+  else{
+    grimpeur.droit(0);
+  }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    grimpeur.droit(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -0,0 +1,55 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Grimpeur;
+
+public class GrimpeurHautGauche extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurHautGauche. */
+  public GrimpeurHautGauche(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    grimpeur.resetencodeurd();
+    grimpeur.resetencodeurg();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.encoderg()>261 ){
+      grimpeur.gauche(0);
+    }
+    else if(grimpeur.getpitch()<-15){
+      grimpeur.gauche(0.6);
+      
+    }
+    else if(grimpeur.getpitch()>15){
+      grimpeur.gauche(-0.6);
+    }
+    else{
+      grimpeur.gauche(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.gauche(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -4,12 +4,22 @@
 
 package frc.robot.command;
 
+import com.revrobotics.CANSparkMax;
+
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Lanceur;
 
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
+
+  private Lanceur lancer;
+  private Lanceur lancer2;
+  private Lanceur lancer3;
+  private Lanceur lancer4;
   public Lancer() {
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(lancer,lancer2,lancer3,lancer4);
   }
 
   // Called when the command is initially scheduled.
@@ -18,11 +28,15 @@ public class Lancer extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    lancer.lancer(0.3);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lancer.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -9,14 +9,18 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
  
-
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); 
   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 limitacc = new DigitalInput(Constants.limitacc);
+    
   public void Deaccumuler(double vitesse){  
     Moteuracc2.set(vitesse);
   }
@@ -27,7 +31,9 @@ public class Accumulateur extends SubsystemBase {
   public boolean limitswitch(){
     return limitacc.get();
   }
-  public Accumulateur() {}
+  public Accumulateur() {
+    dashboard.addBoolean("limitacc", this::limitswitch);
+  }
   public void Accumuler(double vitesse){
     Moteuracc.set(vitesse);
     Moteuracc2.set(vitesse);

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

@@ -45,7 +45,12 @@ public void resetencodeurd(){
 public void resetencodeurg(){
   grimpeurg.getEncoder().setPosition(0);
 }
-
+public double encoderd(){
+ return grimpeurd.getEncoder().getPosition();
+}
+public double encoderg(){
+  return grimpeurg.getEncoder().getPosition();
+}
 public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();

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

@@ -18,13 +18,13 @@ public class Lanceur extends SubsystemBase {
   public Lanceur() {}
   final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
-  final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
-  final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
+  final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
+  final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
 
-    public void lancer(double vitesse){
-      lancer.set(vitesse);
+  public void lancer(double vitesse){
+    lancer.set(vitesse);
   }
-  public void lanceur(){
+    public void lanceur(){
     lancer2.follow(lancer);
     lancer3.follow(lancer);
     lancer4.follow(lancer);