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

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

@@ -71,12 +71,12 @@ public class RobotContainer {
     autoChooser = AutoBuilder.buildAutoChooser();
     CameraServer.startAutomaticCapture();
     configureBindings();
-    NamedCommands.registerCommand("GrimperMur", new GrimperMur());
-    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir());
+    NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
+    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
     NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
     NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
     NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
-    NamedCommands.registerCommand("Limelighter", new Limelighter());
+    NamedCommands.registerCommand("Limelighter", new Limelighter(limeLight3G,drivetrain));
     NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
     NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
     NamedCommands.registerCommand("TournerAZero", new TournerAZero(drivetrain));

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

@@ -10,7 +10,6 @@ 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 */

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

@@ -4,12 +4,34 @@
 
 package frc.robot.commands;
 
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Limelight3G;
+import static edu.wpi.first.units.Units.*;
 
 /* 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 {
+  Timer timer;
+  Limelight3G limelight3g;
+  CommandSwerveDrivetrain drivetrain;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+    double botx;
+    double boty;
+    double angle;
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new Limelighter. */
-  public Limelighter() {
+  public Limelighter(Limelight3G limelight3g,CommandSwerveDrivetrain drivetrain) {
+    this.limelight3g = limelight3g;
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain,limelight3g);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -19,15 +41,31 @@ public class Limelighter extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    double[] BotPose = new double[6];
+    BotPose = limelight3g.getBotPoseBlue();
+    botx = BotPose[0];
+    boty = BotPose[1];
+    angle = BotPose[5];
+    drivetrain.setControl(drive.withRotationalRate(limelight3g.Calcule(4.625594, botx, 4.034536, boty, BotPose[5])/90));
+    if(limelight3g.Calcule(4.625594, botx, 4.034536, boty, angle)/90 < 0.1){
+      timer.start();
+    }
+    else{
+      timer.reset();
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withRotationalRate(0));
+    timer.stop();
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return timer.get() > 1;
   }
 }

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

@@ -4,12 +4,37 @@
 
 package frc.robot.commands.ModeAuto;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.LimeLight3;
 
 /* 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 GrimperMur extends Command {
+  LimeLight3 limeLight3;
+  CommandSwerveDrivetrain drivetrain;
+  double[] BotPose = new double[6];
+  double botx;
+  double boty;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Pigeon2 pigeon2; 
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new GrimperMur. */
-  public GrimperMur() {
+  public GrimperMur(LimeLight3 limeLight3, CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    this.limeLight3 = limeLight3;
+    addRequirements(limeLight3,drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -19,15 +44,27 @@ public class GrimperMur extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    BotPose = limeLight3.getBotPoseBlue();
+    botx = BotPose[0];
+    boty = BotPose[1];
+    if(180-pigeon2.getYaw().getValueAsDouble() < 10 && 180- pigeon2.getYaw().getValueAsDouble() > -10){
+      drivetrain.setControl(drive.withVelocityX(2.961328-boty).withVelocityY(1.11-botx));
+    }
+    else{
+       drivetrain.setControl(drive.withRotationalRate(180-pigeon2.getYaw().getValueAsDouble()/45));
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return (2.961328-boty < 0.05 || 2.961328-boty >-0.05) && (1.11-botx < 0.05 || 1.11-botx > -0.05);
   }
 }

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

@@ -4,12 +4,37 @@
 
 package frc.robot.commands.ModeAuto;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+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 GrimperReservoir extends Command {
-  /** Creates a new GrimperReservoir. */
-  public GrimperReservoir() {
+  Limelight3G limeLight3G;
+  CommandSwerveDrivetrain drivetrain;
+  double[] BotPose = new double[6];
+  double botx;
+  double boty;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Pigeon2 pigeon2; 
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new GrimperMur. */
+  public GrimperReservoir(Limelight3G limeLight3G, CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    this.limeLight3G = limeLight3G;
+    addRequirements(limeLight3G,drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -19,15 +44,27 @@ public class GrimperReservoir extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    BotPose = limeLight3G.getBotPoseBlue();
+    botx = BotPose[0];
+    boty = BotPose[1];
+    if(0-pigeon2.getYaw().getValueAsDouble() < 10 && 0- pigeon2.getYaw().getValueAsDouble() > -10){
+      drivetrain.setControl(drive.withVelocityX(5.081328-boty).withVelocityY(1.11-botx));
+    }
+    else{
+       drivetrain.setControl(drive.withRotationalRate(0-pigeon2.getYaw().getValueAsDouble()/45));
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return 5.081328-boty < 0.05 || 5.081328-boty >-0.05 && 1.11-botx < 0.05 || 1.11-botx > -0.05;
   }
 }

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

@@ -15,6 +15,7 @@ public class LancerAuto extends Command {
   /** Creates a new LancerAuto. */
   public LancerAuto(Lanceur lanceur) {
     this.lanceur = lanceur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -28,12 +29,16 @@ public class LancerAuto extends Command {
   @Override
   public void execute() {
     lanceur.Lancer(0.5);
+    if(timer.get() > 1){
+      lanceur.Demeler(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     lanceur.Lancer(0);
+    lanceur.Demeler(0);
     timer.reset();
     timer.stop();
   }