Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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

@@ -14,12 +14,14 @@ public class Aspirer extends Command {
   private Balayeuse balayeuse;
   private Timer timer;
   private Led led;
+  private double temp;
   /** Creates a new Aspirer. */
   public Aspirer(Balayeuse balayeuse, Led led) {
     this.balayeuse = balayeuse;
     this.led = led;
     this.timer = new Timer();
     addRequirements(balayeuse, led); 
+    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,6 +29,7 @@ public class Aspirer extends Command {
   @Override
   public void initialize() {
     timer.reset();
+    temp = balayeuse.Amp();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -40,13 +43,16 @@ public class Aspirer extends Command {
       moyenneAmp += balayeuse.Amp() / nbFois;
     }
     else{
-      timer.reset();
+      nbFois++;
+      moyenneAmp -= temp;
+      moyenneAmp += balayeuse.Amp() / nbFois;
+      temp = balayeuse.Amp();
     }
     if(moyenneAmp < 40){
       timer.reset();
       balayeuse.Balayer(0.5);
     }
-    else if(moyenneAmp > 40){
+    else{
         balayeuse.Balayer(0);
         led.Jaune2();
     }

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

@@ -21,6 +21,7 @@ public class Lancer extends Command {
   private Timer timer;
   private Balayeuse balayeuse;
   private Led led;
+  private double temp;
   /** Creates a new Lancer. */
   public Lancer(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
     this.lanceur = lanceur;
@@ -29,6 +30,7 @@ public class Lancer extends Command {
     this.timer = new Timer();
     this.limeLight3G = new Limelight3G();
     addRequirements(lanceur);
+    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -37,39 +39,38 @@ public class Lancer extends Command {
   public void initialize() {
     pidController = new PIDController(0, 0,0, 0);
     timer.reset();
+    timer.start();
+    temp = lanceur.Amp();    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    timer.start();
+    int nbFois = 0;
-    if(lanceur.Amp() > 40){ 
+
+    double moyenneAmp = 0;
+    if(timer.get() < 3){
+      nbFois++;
+      moyenneAmp += balayeuse.Amp() / nbFois;
+    }
+    else{
+      nbFois++;
+      moyenneAmp -= temp;
+      moyenneAmp += balayeuse.Amp() / nbFois;
+      temp = balayeuse.Amp();
+    }
+    if(moyenneAmp > 30 && nbFois > 10){
       timer.reset();
-      double vitesse = (100-limeLight3G.getTA())/100;
+      balayeuse.Balayer(0.5);
+    }
+    else{
+      double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
       if(lanceur.Vitesse() >= vitesse){
         lanceur.Demeler(0.5);
       }
     }
-    else if(lanceur.Amp() < 40){
-      lanceur.Lancer(0);
-      lanceur.Demeler(0);
-      if(!balayeuse.GetLimiSwtich()){
-        balayeuse.Pivoter(0.2);
-      }
-      else{
-        balayeuse.Reset();
-        balayeuse.Pivoter(0);
-        double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
-        double output = pidController.calculate(lanceur.Vitesse(),vitesse);
-        lanceur.Lancer(output);
-        if(lanceur.Vitesse() >= vitesse){
-          lanceur.Demeler(0.5);
-        }
-      }
-      led.Vert2();
-    }
 
   }
 

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

@@ -0,0 +1,65 @@
+// 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.math.controller.PIDController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.Led;
+import frc.robot.subsystems.LimeLight3;
+import frc.robot.subsystems.Limelight3G;
+
+/* 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 LancerOposer extends Command {
+  private Lanceur lanceur;
+  private PIDController pidController;
+  private Limelight3G limeLight3G;
+  private Timer timer;
+  private Balayeuse balayeuse;
+  private Led led;
+  private double temp;
+  /** Creates a new Lancer. */
+  public LancerOposer(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
+    this.lanceur = lanceur;
+    this.balayeuse = balayeuse;
+    this.led = led;
+    this.timer = new Timer();
+    this.limeLight3G = new Limelight3G();
+    addRequirements(lanceur);
+    this.temp = 0;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    pidController = new PIDController(0, 0,0, 0);
+    timer.reset();
+    timer.start();
+    temp = lanceur.Amp();    
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.Lancer(-0.2);
+    lanceur.Demeler(-0.2);
+  }
+
+  // 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;
+  }
+}