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

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

@@ -45,8 +45,7 @@ public class Constants {
     // Limit switch
     public static int guideurhaut = 0;
     public static int guideurbas = 1;
-    public static int limitacc = 2;
+    public static int photocellacc = 2;
-    public static int limitacc2 = 3;
     public static int limithaut = 4;
     public static int limitbas = 5;
 

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

@@ -12,10 +12,11 @@ import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 // Manette
-
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 // Manettes
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -29,6 +30,8 @@ import frc.robot.command.GuiderHaut;
 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.Pistongrimpeur;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -37,6 +40,7 @@ import frc.robot.subsystem.Grimpeur;
 import frc.robot.subsystem.Guideur;
 import frc.robot.subsystem.LED;
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 import frc.robot.subsystem.Pixy;
 
 
@@ -48,19 +52,23 @@ public class RobotContainer {
   Grimpeur grimpeur = new Grimpeur();
   Guideur guideur = new Guideur();
   Lanceur lanceur = new Lanceur();
-  Balayer balayer = new Balayer(balayeuse, accumulateur);
+  Limelight limelight = new Limelight();
-  GuiderHaut guiderHaut = new GuiderHaut(guideur);
+  LED LED = new LED();
-  GuiderBas guiderBas = new GuiderBas(guideur);
+  Pixy pixy = new Pixy();
-  Lancer lancer = new Lancer(lanceur);
-  LancerNote lancernote = new LancerNote(lanceur, accumulateur);
-  Lancerampli lancerampli = new Lancerampli(lanceur);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
+   //command
+   Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
+   Balayer balayer = new Balayer(balayeuse, accumulateur);
+  GuiderHaut guiderHaut = new GuiderHaut(guideur);
+  GuiderBas guiderBas = new GuiderBas(guideur);
+    Lancer lancer = new Lancer(lanceur,limelight);
+  LancerNote lancernote = new LancerNote(lanceur, accumulateur);
+  Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
-  LED LED = new LED();
   AllumeLED allumeLED = new AllumeLED(LED);
-  Pixy pixy = new Pixy();
+  Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
@@ -70,6 +78,9 @@ public class RobotContainer {
     manette.a().whileTrue(guiderBas);
     manette.b().whileTrue(guiderHaut);
     joystick.button(3).toggleOnTrue(balayer);
+    joystick.button(1).whileTrue(lancernote);
+    joystick.button(4).whileTrue(new ParallelCommandGroup(lancer,limelight_tracker));
+    joystick.button(2).whileTrue(new ParallelCommandGroup(lancerampli,limelight_tracker,guiderHaut));
     
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
@@ -79,6 +90,7 @@ public class RobotContainer {
       grimpeur.droit(manette.getLeftX());}
       ,grimpeur));
       LED.setDefaultCommand(allumeLED);
+      
   }
 
   private void configureBindings() {

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;
-  
+  private Limelight limelight;
-  public Lancerampli(Lanceur lanceur) {
+  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;
+  }
+}

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(){
+  public boolean pistondroiteouvre(){
-    pistondroite.get();
+    return pistondroite.get();
-    pistondgauche.get();
   }
-  public void pistonferme(){
+  public boolean pistondgaucheouvre(){
-    pistondroite.get();
+    return pistondgauche.get();
-    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. */
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
-  public 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);
+     /** Creates a new Limelight. */
-  double y = ty.getDouble(0.0);
+  public Limelight() {
-  double area = ta.getDouble(0.0);
-
-  SmartDashboard.putNumber("LimelightX", x);
-  SmartDashboard.putNumber("LimelightY", y);
-  SmartDashboard.putNumber("LimelightArea", area);
-
-}
 
+  }
   
+  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