Module fini

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

@@ -6,13 +6,34 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.Aspirer;
+import frc.robot.commands.DescendreBalyeuse;
+import frc.robot.commands.DescendreGrimpeur;
+import frc.robot.commands.Lancer;
+import frc.robot.commands.MonterBalyeuse;
+import frc.robot.commands.MonterGrimpeur;
+import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Lanceur;
 
 public class RobotContainer {
+  Balayeuse balayeuse = new Balayeuse();
+  Grimpeur grimpeur = new Grimpeur();
+  Lanceur lanceur = new Lanceur();
+  CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    manette.a().whileTrue(new Lancer(lanceur));
+    manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
+    manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
+    manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
+    manette.b().whileTrue(new Aspirer(balayeuse));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/commands/Aspirer.java

@@ -0,0 +1,41 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Aspirer extends Command {
+  Balayeuse balayeuse;
+  /** Creates a new Aspirer. */
+  public Aspirer(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse); 
+    // 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.Balayer(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.Balayer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/DescendreBalyeuse.java

@@ -0,0 +1,43 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class DescendreBalyeuse extends Command {
+  Balayeuse balayeuse;
+  /** Creates a new Descendre. */
+  public DescendreBalyeuse(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse);
+    // 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(balayeuse.Distance() < 10){
+      balayeuse.Pivoter(-0.2);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.Pivoter(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/DescendreGrimpeur.java

@@ -0,0 +1,45 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class DescendreGrimpeur extends Command {
+  Grimpeur grimpeur;  
+  /** Creates a new DescendreGrimpeur. */
+  public DescendreGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = 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() {
+    if(!grimpeur.Limit()){
+      grimpeur.Grimper(-0.5);
+    }
+    else{
+      grimpeur.Reset();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.Grimper(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,46 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Lanceur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Lancer extends Command {
+  Lanceur lanceur;
+  /** Creates a new Lancer. */
+  public Lancer(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    // 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() {
+    double vitesse = 0.8;
+    lanceur.Lancer(vitesse);
+    if(lanceur.Vitesse() >= vitesse){
+      lanceur.Demeler(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/MonterBalyeuse.java

@@ -0,0 +1,46 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class MonterBalyeuse extends Command {
+  Balayeuse balayeuse;
+  /** Creates a new MonterBalyeuse. */
+  public MonterBalyeuse(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse);
+    // 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(!balayeuse.GetLimiSwtich()){
+      balayeuse.Pivoter(0.2);
+    }
+    else{
+      balayeuse.Reset();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+      balayeuse.Pivoter(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/MonterGrimpeur.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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class MonterGrimpeur extends Command {
+  Grimpeur grimpeur;
+  /** Creates a new MonterGrimpeur. */
+  public MonterGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = 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() {
+    if(grimpeur.Position() > 10){
+      grimpeur.Grimper(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.Grimper(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Balayeuse.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.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Balayeuse extends SubsystemBase {
+  SparkFlex Balaye = new SparkFlex(5, MotorType.kBrushless);
+  SparkMax Pivot = new SparkMax(6, MotorType.kBrushless);
+  DigitalInput limit = new DigitalInput(0);
+  public void Balayer(double vitesse){
+    Balaye.set(vitesse);
+  }
+  public void Pivoter(double vitesse){
+    Pivot.set(vitesse);
+  }
+  public double Distance(){
+    return Pivot.getEncoder().getPosition();
+  } 
+  public void Reset(){
+    Pivot.getEncoder().setPosition(0);
+  }
+  public boolean GetLimiSwtich(){
+    return limit.get();
+  }
+  /** Creates a new Balayeuse. */
+  public Balayeuse() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,41 @@
+// 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.subsystems;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Grimpeur extends SubsystemBase {
+  SparkMax grimpeur1 = new SparkMax(8,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(9,MotorType.kBrushless);
+  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+  DigitalInput limit = new DigitalInput(1);
+  public void Grimper(double vitesse){
+    grimpeur1.set(vitesse);
+    slaveConfig.follow(grimpeur1, false);
+    grimpeur2.configure(slaveConfig,null,null);
+  }
+  public double Position(){
+    return grimpeur1.getEncoder().getPosition();
+  }
+  public void Reset(){
+    grimpeur1.getEncoder().setPosition(0);
+  }
+  public boolean Limit(){
+    return limit.get();
+  }
+  /** Creates a new Grimpeur. */
+  public Grimpeur() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/subsystems/Lanceur.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.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Lanceur extends SubsystemBase {
+    SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
+    SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
+    SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
+    SparkMaxConfig slaveConfig = new SparkMaxConfig();
+    public void Lancer(double vitesse){
+        moteur1.set(vitesse);
+        slaveConfig.follow(moteur1, true);
+        moteur2.configure(slaveConfig,null,null);
+    }
+    public void Demeler(double vitesse){
+      Demeleur.set(vitesse);
+    }
+    public double Vitesse(){
+      return moteur1.getEncoder().getVelocity();
+    }
+  /** Creates a new Lanceur. */
+  public Lanceur() {
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
+