Pathplanner sans le drivetrain

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

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.NamedCommands;
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -13,9 +15,18 @@ import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerBaseVitesse;
+import frc.robot.commands.Limelighter;
 import frc.robot.commands.ModeOposer;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
+import frc.robot.commands.ModeAuto.AspirerAuto;
+import frc.robot.commands.ModeAuto.GrimperMur;
+import frc.robot.commands.ModeAuto.GrimperReservoir;
+import frc.robot.commands.ModeAuto.LancerAuto;
+import frc.robot.commands.ModeAuto.RetourMilieuDroite;
+import frc.robot.commands.ModeAuto.RetourMilieuGauche;
+import frc.robot.commands.ModeAuto.TournerA180;
+import frc.robot.commands.ModeAuto.TournerAZero;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Lanceur;
@@ -32,6 +43,18 @@ public class RobotContainer {
   public RobotContainer() {
     CameraServer.startAutomaticCapture();
     configureBindings();
+    NamedCommands.registerCommand("GrimperMur", new GrimperMur());
+    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir());
+    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
+    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
+    NamedCommands.registerCommand("Limelighter", new Limelighter());
+    NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
+    NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
+    NamedCommands.registerCommand("TournerAZero", new TournerAZero());
+    NamedCommands.registerCommand("TournerA180", new TournerA180());
+    NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
+    NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
   }
 
   private void configureBindings() {

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

@@ -0,0 +1,33 @@
+// 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;
+
+/* 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 Limelighter extends Command {
+  /** Creates a new Limelighter. */
+  public Limelighter() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/AspirerAuto.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.ModeAuto;
+
+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 AspirerAuto extends Command {
+  Balayeuse balayeuse;
+  /** Creates a new AspirerAuto. */
+  public AspirerAuto(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/ModeAuto/GrimperReservoir.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 GrimperReservoir extends Command {
+  /** Creates a new GrimperReservoir. */
+  public GrimperReservoir() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/LancerAuto.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.ModeAuto;
+
+import edu.wpi.first.wpilibj.Timer;
+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 LancerAuto extends Command {
+  Lanceur lanceur;
+  Timer timer;
+  /** Creates a new LancerAuto. */
+  public LancerAuto(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.Lancer(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Lancer(0);
+    timer.reset();
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 3;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 RetourMilieuDroite extends Command {
+  /** Creates a new RetourMilieu. */
+  public RetourMilieuDroite() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/RetourMilieuGauche.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 RetourMilieuGauche extends Command {
+  /** Creates a new RetourMilieuGauche. */
+  public RetourMilieuGauche() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/TournerA180.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 TournerA180 extends Command {
+  /** Creates a new TournerA180. */
+  public TournerA180() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/TournerAZero.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 TournerAZero extends Command {
+  /** Creates a new TournerAZero. */
+  public TournerAZero() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}