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

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,12 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/Pigeon IMU [0]": "Gyro"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

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

@@ -13,7 +13,12 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 // Manette
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+<<<<<<< HEAD
 import frc.robot.command.Balayer;
+=======
+import frc.robot.command.GuiderBas;
+import frc.robot.command.GuiderHaut;
+>>>>>>> 33990971eb46b4232501c29b34451800e658504b
 // Subsystem
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -33,13 +38,16 @@ public class RobotContainer {
   Lanceur lanceur = new Lanceur();
   Balayer balayer = new Balayer(balayeuse, accumulateur);
 
+  GuiderHaut guiderHaut = new GuiderHaut(guideur);
+  GuiderBas guiderBas = new GuiderBas(guideur);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
   
   public RobotContainer() {
 
     CameraServer.startAutomaticCapture();
-
+    manette.a().onTrue(guiderBas);
+    manette.b().onTrue(guiderHaut);
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
      drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));

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

@@ -1,51 +0,0 @@
-// 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/subsystem/Guideur.java

@@ -16,7 +16,7 @@ public class Guideur extends SubsystemBase {
   
     final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
     final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
-    final DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
+    final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
 
       public void guider(double vitesse){
         guideur.set(vitesse);