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

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

@@ -33,6 +33,7 @@ import frc.robot.command.Lancer;
 import frc.robot.command.LancerNote;
 import frc.robot.command.Lancerampli;
 import frc.robot.command.Limelight_tracker;
+import frc.robot.command.PistonFerme;
 import frc.robot.command.Pistongrimpeur;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
@@ -61,6 +62,7 @@ public class RobotContainer {
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
    //command
+   PistonFerme pistonFerme = new PistonFerme(grimpeur);
    Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
    Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
@@ -76,6 +78,7 @@ public class RobotContainer {
     dashboard.addCamera("limelight", "limelight","limelight.local:5800");
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
+    NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
 
     CameraServer.startAutomaticCapture();

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

@@ -56,6 +56,7 @@ public class GrimpeurDroit extends Command {
   @Override
   public void end(boolean interrupted) {
     grimpeur.droit(0);
+    grimpeur.pistonouvre();
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,38 @@
+// 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 PistonFerme extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new PistonFerme. */
+  public PistonFerme(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.pistonferme();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

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

@@ -29,7 +29,7 @@ public class Pistongrimpeur extends Command {
   @Override
   public void execute() {
     
-    if(grimpeur.pistonouvre()){
+    if(grimpeur.piston()){
       LED.couleur(0, 0, 255);
     }
   }
@@ -38,7 +38,7 @@ public class Pistongrimpeur extends Command {
   @Override
   public void end(boolean interrupted) {
     LED.couleur(0, 0, 0);
-    grimpeur.pistonferme();
+    
   }
 
   // Returns true when the command should end.

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

@@ -12,6 +12,7 @@ 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.Solenoid;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -34,8 +35,8 @@ public class Grimpeur extends SubsystemBase {
   // limit switch
   final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
   final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
-  final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre);
-  final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
+  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
+  final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
   //fonction
   public Grimpeur() {
     layout.addBoolean("limitgrimpeurd", limitdroite::get);
@@ -72,15 +73,16 @@ public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
-  public boolean pistonouvre(){
-    pistondroite.set(Value.kForward);
-    pistondgauche.set(Value.kForward);
-    return pistondroite.isFwdSolenoidDisabled();
-  }
   public void pistonferme(){
-    pistondroite.set(Value.kReverse);
-    pistondgauche.set(Value.kReverse);
-  
+     pistondroite.set(true);
+     pistondgauche.set(true);
+  }
+  public void pistonouvre(){
+    pistondgauche.set(false);
+    pistondroite.set(false);
+  }
+  public boolean piston(){
+    return pistondgauche.get();
   }
   @Override
   public void periodic() {

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

@@ -12,14 +12,19 @@ public class LED extends SubsystemBase {
   /** Creates a new LED. */
   public LED() {}
    AddressableLED led = new AddressableLED(9);
-   AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(60);
+   AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(150);
    public void led(){
     led.setData(ledBuffer);
-    led.start();
-   }
-   public void couleur(int R, int G, int B){
-    ledBuffer.setRGB(0, R, G, B);
+    led.start();}
+   
+   public void couleur(int R, int G,int B){
+    for (int i = 0; i < ledBuffer.getLength(); i++) {
+    // Sets the specified LED to the RGB values for red
+    ledBuffer.setRGB(i, 255, 0, 0);}
+   
    }
+  
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run