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Named Commands

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This commit is contained in:
Antoine PerreaultE
2025-01-30 20:18:15 -05:00
parent 26a4b9f9a3
commit 06abfa4dbb
3 changed files with 16 additions and 1 deletions
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14
src/main/java/frc/robot/RobotContainer.java
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@@ -4,7 +4,12 @@
package frc.robot;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -24,8 +29,10 @@ import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(0);
private final SendableChooser<Command> autoChooser;
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -34,6 +41,13 @@ public class RobotContainer {
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
autoChooser = AutoBuilder.buildAutoChooser();
}
private void configureBindings() {