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

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

@@ -45,7 +45,11 @@ public class RobotContainer {
     },drive));
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+
+    
+
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

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

@@ -13,11 +13,9 @@ public class Balayer extends Command {
   private Accumulateur accumulateur;
   /** Creates a new Balayer. */
   public Balayer(Balayeuse balayeuse, Accumulateur accumulateur) {
-    this.balayeuse = balayeuse;
-    addRequirements(balayeuse, 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() {}
@@ -25,16 +23,26 @@ public class Balayer extends Command {
   // 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) {}
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    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/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

@@ -9,22 +9,35 @@ 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 limitacc2 = new DigitalInput(Constants.limitacc2); 
-  public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
-  public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
-  public boolean limitswitch1(){return limitacc.get();}
-  public boolean limitswitch2(){return limitacc2.get();}
-  public Accumulateur() {}
-  public void Accumuler(double vitesse){Moteuracc.set(vitesse);}
-  public void Accumuler2(double vitesse){Moteuracc2.set(vitesse);}
+  final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
+    
+  public void Deaccumuler(double vitesse){  
+    Moteuracc2.set(vitesse);
+  }
+  public void moteuraccfollow(){
+    Moteuracc.follow(Moteuracc2);
+    Moteuracc.setInverted(true);
+  }
+  public boolean limitswitch(){
+    return limitacc.get();
+  }
+  public Accumulateur() {
+    dashboard.addBoolean("limitacc", this::limitswitch);
+  }
+  public void Accumuler(double vitesse){
+    Moteuracc.set(vitesse);
+    Moteuracc2.set(vitesse);
+  }
 
   @Override
   public void periodic() {

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

@@ -15,10 +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/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);

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

@@ -4,13 +4,21 @@
 
 package frc.robot.subsystem;
 
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+
 
 public class Limelight extends SubsystemBase {
   /** Creates a new Limelight. */
   public Limelight() {
-        
-  }
+
+    boolean tv = LimelightHelpers.getTV("No_name");
+
+    double tx = LimelightHelpers.getTX("No_name");
+    double ty = LimelightHelpers.getTY("No_name");
+    double ta = LimelightHelpers.getTA("No_name");
+}
 
   
   @Override