code fini

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

@@ -24,7 +24,7 @@ public class DescendreBalyeuse extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(balayeuse.Distance() < 10){
+    if(balayeuse.Distance() < balayeuse.EncodeurBalayeuse()){
       balayeuse.Pivoter(-0.2);
     }
   }

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

@@ -61,7 +61,7 @@ public class Lancer extends Command {
       else{
         balayeuse.Reset();
         balayeuse.Pivoter(0);
-        double vitesse = (100-limeLight3G.getTA())/100;
+        double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
         double output = pidController.calculate(lanceur.Vitesse(),vitesse);
         lanceur.Lancer(output);
         if(lanceur.Vitesse() >= vitesse){

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

@@ -23,7 +23,7 @@ public class MonterGrimpeur extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.Position() < 10){
+    if(grimpeur.Position() < grimpeur.PositionFinal()){
       grimpeur.Grimper(0.5);
     }
   }

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

@@ -8,16 +8,22 @@ import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Balayeuse extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkFlex Balaye1 = new SparkFlex(5, MotorType.kBrushless);
-  SparkFlex Balaye2 = new SparkFlex(5, MotorType.kBrushless);
+  SparkFlex Balaye2 = new SparkFlex(6, MotorType.kBrushless);
-  SparkMax Pivot = new SparkMax(6, MotorType.kBrushless);
+  SparkMax Pivot = new SparkMax(7, MotorType.kBrushless);
   DigitalInput limit = new DigitalInput(0);
+  private GenericEntry EncodeurBalayeuse =
+  teb.add("Position bas balayeuse", 10).getEntry();
   public void Balayer(double vitesse){
     Balaye1.set(vitesse);
     Balaye2.set(vitesse);
@@ -40,10 +46,15 @@ public class Balayeuse extends SubsystemBase {
   public void Temps(){
     Timer timer = new Timer();
     timer.start();
-    
+  }
+  public double EncodeurBalayeuse(){
+    return EncodeurBalayeuse.getDouble(10);
   }
   /** Creates a new Balayeuse. */
-  public Balayeuse() {}
+  public Balayeuse() {
+    teb.addBoolean("limit balayeuse", this::GetLimiSwtich);
+    teb.addDouble("encodeur balayeuse", this::Distance);
+  }
 
   @Override
   public void periodic() {

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

@@ -7,18 +7,24 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.networktables.GenericEntry;
 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;
 
 public class Grimpeur extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(8,MotorType.kBrushless);
   SparkMax grimpeur2 = new SparkMax(9,MotorType.kBrushless);
   SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(1);
+    private GenericEntry EncodeurGrimpeur =
+  teb.add("Position haut grimpeur", 10).getEntry();
   public void Grimper(double vitesse){
     grimpeur1.set(vitesse);
     grimpeur2.set(vitesse);
-
   }
   public double Position(){
     return grimpeur1.getEncoder().getPosition();
@@ -29,8 +35,14 @@ public class Grimpeur extends SubsystemBase {
   public boolean Limit(){
     return limit.get();
   }
+  public double PositionFinal(){
+    return EncodeurGrimpeur.getDouble(10);
+  }
   /** Creates a new Grimpeur. */
-  public Grimpeur() {}
+  public Grimpeur() {
+    teb.addDouble("encodeur grimpeur", this::Position);
+    teb.addBoolean("limit grimpeur", this::Limit);
+  }
 
   @Override
   public void periodic() {

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

@@ -7,27 +7,37 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
-    SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-    SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
+  SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
-    SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
+  SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
-    public void Lancer(double vitesse){
+  SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
-        moteur1.set(vitesse);
+  GenericEntry vitesse = 
-        moteur2.set(-vitesse);
+  teb.add("vitesse lanceur",100).getEntry();
-    }
+  public void Lancer(double vitesse){
-    public void Demeler(double vitesse){
+    moteur1.set(vitesse);
-      Demeleur.set(vitesse);
+    moteur2.set(-vitesse);
-    }
+  }
-    public double Vitesse(){
+  public void Demeler(double vitesse){
-      return moteur1.getEncoder().getVelocity();
+    Demeleur.set(vitesse);
-    }
+  }
-    public double Amp(){
+  public double Vitesse(){
-      return moteur1.getOutputCurrent();
+    return moteur1.getEncoder().getVelocity();
-    }
+  }
+  public double Amp(){
+    return moteur1.getOutputCurrent();
+  }
+  public double vitesseDemander(){
+    return vitesse.getDouble(100);
+  }
   /** Creates a new Lanceur. */
   public Lanceur() {
+    teb.addDouble("amperage lanceur", this::Amp);
   }
 
   @Override

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

@@ -9,10 +9,17 @@ import java.util.Optional;
 import com.ctre.phoenix.led.CANdle;
 import com.ctre.phoenix.led.RainbowAnimation;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Led extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  private GenericEntry equipe = 
+  teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   CANdle CANDle = new CANdle(7);
   RainbowAnimation rainbowAnim = new RainbowAnimation();
     public void bleu(){
@@ -78,13 +85,7 @@ public class Led extends SubsystemBase {
     CANDle.animate(null);
   }
   public boolean Equipe(){
-    Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+    return equipe.getBoolean(true);
-    if(alliance.get() == DriverStation.Alliance.Blue){
-      return true;
-    }
-    else{
-      return false;
-    }
   }
   /** Creates a new Led. */
   public Led() {}