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

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 guideur.haut()==true;
+return guideur.haut()==true; 
   }
 }

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

@@ -9,14 +9,17 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
+  private Limelight limelight;
   private Lanceur lanceur;
-  public Lancer(Lanceur lanceur) {
+  public Lancer(Lanceur lanceur,Limelight limelight) {
+    this.limelight = limelight;
     this.lanceur = lanceur;
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur);
+    addRequirements(lanceur,limelight);
   }
 
   // Called when the command is initially scheduled.
@@ -26,7 +29,9 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(limelight.getv()){
     lanceur.lancerspeaker();
+    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -15,6 +15,7 @@ public class LancerNote extends Command {
   public LancerNote(Lanceur lancer, Accumulateur accumulateur) {
     this.lancer = lancer;
     this.accumulateur = accumulateur;
+    addRequirements(lancer);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

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

@@ -9,15 +9,16 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 
 public class Lancerampli extends Command {
   /** Creates a new Lanceur. */
-
   private Lanceur lanceur;
-  
-  public Lancerampli(Lanceur lanceur) {
+  private Limelight limelight;
+  public Lancerampli(Lanceur lanceur,Limelight limelight) {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur);
+    addRequirements(lanceur, limelight);
+    this.limelight = limelight;
     this.lanceur = lanceur;
   }
 
@@ -28,7 +29,10 @@ public class Lancerampli extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lanceramp();
+    if(limelight.getv()){
+      lanceur.lanceramp();
+    }
+    
   }
 
   // Called once the command ends or is interrupted.

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

@@ -0,0 +1,49 @@
+// 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.Drive;
+import frc.robot.subsystem.Limelight;
+
+public class Limelight_tracker extends Command {
+  /** Creates a new Limelight_tracker. */
+  private Limelight tracker;
+  private Drive drive;
+
+  public Limelight_tracker(Limelight tracker, Drive drive) {
+    this.drive = drive;
+    this.tracker = tracker;
+    addRequirements(tracker,drive);
+  }
+
+  // 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 (tracker.getv()){
+      drive.drive(0,0, tracker.getx());
+      }
+      else{
+        drive.drive(0, 0, 0);
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+     drive.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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;
+import frc.robot.subsystem.LED;
+
+public class Pistongrimpeur extends Command {
+  private LED LED;
+  private Grimpeur grimpeur;
+  /** Creates a new Pistongrimpeur. */
+  public Pistongrimpeur(Grimpeur grimpeur,LED LED) {
+    this.grimpeur = grimpeur;
+    this.LED = LED;
+    addRequirements(grimpeur,LED);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    grimpeur.pistondroiteouvre();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+    if(grimpeur.pistondgaucheouvre()){
+      LED.couleur(0, 0, 255);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    LED.couleur(0, 0, 0);
+    
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}