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

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

@@ -24,7 +24,7 @@ public class Accumulateur extends SubsystemBase {
          .getEntry(); 
   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 photocellacc = new DigitalInput(Constants.photocellacc);
     
   public void Deaccumuler(double vitesse){  
     Moteuracc2.set(vitesse);
@@ -34,7 +34,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc.setInverted(true);
   }
   public boolean limitswitch(){
-    return limitacc.get();
+    return photocellacc.get();
   }
   public Accumulateur() {
     

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

@@ -8,10 +8,13 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+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.ShuffleboardTab;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -19,7 +22,8 @@ import frc.robot.Constants;
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Acrocheur. */
   // moteur
-  public Grimpeur() {}
+  
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
@@ -28,6 +32,23 @@ public class Grimpeur extends SubsystemBase {
   final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
   final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
   //fonction
+  public Grimpeur() {
+    dashboard.add("limitgrimpeurd", droite())
+    .withSize(1, 1)
+    .withPosition(1, 5);
+    dashboard.add("limitgrimpeurd", droite())
+    .withSize(1, 1)
+    .withPosition(1, 4);
+    dashboard.add("grimpeurencodeurd", encoderd())
+    .withSize(1, 1)
+    .withPosition(1, 3);
+    dashboard.add("grimpeurencodeurg", encoderg())
+    .withSize(1, 1)
+    .withPosition(1, 2);
+    dashboard.add("pitchgyrogrimpeur", getpitch())
+    .withSize(1, 1)
+    .withPosition(1, 1);
+  }
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
 } 
@@ -56,14 +77,13 @@ public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
-  public void pistonouvre(){
-    pistondroite.get();
-    pistondgauche.get();
+  public boolean pistondroiteouvre(){
+    return pistondroite.get();
   }
-  public void pistonferme(){
-    pistondroite.get();
-    pistondgauche.get();
+  public boolean pistondgaucheouvre(){
+    return pistondgauche.get();
   }
+  
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -7,17 +7,22 @@ package frc.robot.subsystem;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Guideur extends SubsystemBase {
   /** Creates a new Guideur. */
-  public Guideur() {}
   
+    ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
     final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
     final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
     final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
-
+      public Guideur() {
+        dashboard.add("limitguideurhaut", haut());
+        dashboard.add("limitguideurbas", bas());
+      }
       public void guider(double vitesse){
         guideur.set(vitesse);
       }

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

@@ -11,27 +11,44 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
-
 public class Limelight extends SubsystemBase {
-  /** Creates a new Limelight. */
-  public Limelight() {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
 
-    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
   NetworkTableEntry tx = table.getEntry("tx");
   NetworkTableEntry ty = table.getEntry("ty");
   NetworkTableEntry ta = table.getEntry("ta");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  NetworkTableEntry tv = table.getEntry("tv");
+  NetworkTableEntry camMode = table.getEntry("camMode");
+  NetworkTableEntry tid = table.getEntry("tid");
 
-  double x = tx.getDouble(0.0);
-  double y = ty.getDouble(0.0);
-  double area = ta.getDouble(0.0);
-
-  SmartDashboard.putNumber("LimelightX", x);
-  SmartDashboard.putNumber("LimelightY", y);
-  SmartDashboard.putNumber("LimelightArea", area);
-
-}
+     /** Creates a new Limelight. */
+  public Limelight() {
 
+  }
   
+  public  double getx(){
+    return tx.getDouble(0);
+  }
+  public double gety(){
+    return ty.getDouble(0);
+  }
+ /* public double geta() {
+    return ta.getDouble(0);
+  }*/
+  public boolean getv(){
+    return tv.getBoolean(false);
+  }
+  public void setpipeline(){
+     pipeline.setNumber(0);
+  }
+  public void setcamMode(){
+    camMode.setNumber(0);
+  }
+  public double getTid(){
+    return tid.getDouble(0);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run