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

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

@@ -42,7 +42,7 @@ public class Constants {
     public static int ArriereDroit = 6;
     public static int ArriereGauche = 7;
 
-    // Limit switsh
+    // Limit switch
     public static int guideurhaut = 23;
     public static int guideurbas = 24;
     public static int limitacc = 25;
@@ -50,4 +50,9 @@ public class Constants {
     public static int limithaut = 28;
     public static int limitbas = 29;
 
+    //piston
+    public static int pistondroiteouvre= 30;
+    public static int pistondroiteferme= 31;
+    public static int pistondgaucheouvre= 32;
+    public static int pistondgauchferme= 32;
 }

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

@@ -0,0 +1,48 @@
+// 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.Accumulateur;
+import frc.robot.subsystem.Balayeuse;
+
+public class Balayer extends Command {
+  private Balayeuse balayeuse;
+  private Accumulateur accumulateur;
+  /** Creates a new Balayer. */
+  public Balayer(Balayeuse balayeuse, Accumulateur accumulateur) {
+    this.balayeuse = balayeuse; 
+    addRequirements(balayeuse, accumulateur);}
+    // Use addRequirements() here to declare subsystem dependencies.
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(accumulateur.limitswitch()){
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
+  else{
+    balayeuse.balaye(0.6);
+    accumulateur.Accumuler(0.6);
+  }
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return accumulateur.limitswitch()==true;
+  }
+}

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

@@ -0,0 +1,40 @@
+// 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.Accumulateur;
+
+public class Deaccumuler extends Command {
+  private Accumulateur accumulateur;
+  /** Creates a new Deaccumuler. */
+  public Deaccumuler(Accumulateur accumulateur) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(accumulateur);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    accumulateur.Accumuler(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    accumulateur.Accumuler(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,42 @@
+// 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.Accumulateur;
+import frc.robot.subsystem.Balayeuse;
+
+public class Debalayer extends Command {
+  private Balayeuse balayeuse;
+  private Accumulateur accumulateur;
+  /** Creates a new Balayer. */
+  public Debalayer(Balayeuse balayeuse, Accumulateur accumulateur) {
+    this.balayeuse = balayeuse; 
+    addRequirements(balayeuse, accumulateur);}
+    // Use addRequirements() here to declare subsystem dependencies.
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    balayeuse.balaye(-0.6);
+    accumulateur.Accumuler(-0.6);
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/command/GrimpeurHaut.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 GrimpeurHaut extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurHaut. */
+  public GrimpeurHaut(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() {}
+
+  // 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 false;
+  }
+}

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

@@ -40,6 +40,6 @@ public class GuiderBas extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return guideur.bas()==true;
   }
 }

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

@@ -40,6 +40,6 @@ public class GuiderHaut extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return guideur.haut()==true;
   }
 }

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

@@ -12,16 +12,27 @@ import frc.robot.Constants;
 
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
-  public Accumulateur() {}
+ 
 
   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 limitacc2 = new DigitalInput(Constants.limitacc2); 
+  public void Deaccumuler(double vitesse){  
-  public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
+    Moteuracc2.set(vitesse);
-  public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
+  }
-  public boolean limitswitch1(){return limitacc.get();}
+  public void moteuraccfollow(){
-  public boolean limitswitch2(){return limitacc2.get();}
+    Moteuracc.follow(Moteuracc2);
+    Moteuracc.setInverted(true);
+  }
+  public boolean limitswitch(){
+    return limitacc.get();
+  }
+  public Accumulateur() {}
+  public void Accumuler(double vitesse){
+    Moteuracc.set(vitesse);
+    Moteuracc2.set(vitesse);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -15,9 +15,19 @@ public class Balayeuse extends SubsystemBase {
  
   public Balayeuse() {}
   final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
-  final TalonSRX etoile = new TalonSRX(Constants.etoile);
+  final WPI_TalonSRX etoile = new WPI_TalonSRX(Constants.etoile);
-  public void Accumulation(double vitesse){roue.set(vitesse);}
+
-  public void balayeuse(){etoile.follow(roue); etoile.setInverted(true);}
+  public void Accumulation(double vitesse){
+    roue.set(vitesse);
+  }
+  public void balayeuse(){
+    etoile.follow(roue); 
+    etoile.setInverted(true);
+  }
+  public void balaye(double vitesse){
+    roue.set(vitesse); 
+    etoile.set(vitesse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -9,6 +9,9 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -21,6 +24,8 @@ 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);
   //fonction
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
@@ -40,10 +45,19 @@ public void resetencodeurd(){
 public void resetencodeurg(){
   grimpeurg.getEncoder().setPosition(0);
 }
+
 public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
+  public void pistonouvre(){
+    pistondroite.set(Value.kForward);
+    pistondgauche.set(Value.kForward);
+  }
+  public void pistonferme(){
+    pistondroite.set(Value.kReverse);
+    pistondgauche.set(Value.kReverse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run