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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; 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.math.MathUtil;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
@ -24,8 +29,10 @@ import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(0);
private final SendableChooser<Command> autoChooser;
Pince pince = new Pince(); Pince pince = new Pince();
Elevateur elevateur = new Elevateur(); Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY); ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@ -34,6 +41,13 @@ public class RobotContainer {
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2)); elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur)); }, 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() { private void configureBindings() {

2
src/main/java/frc/robot/command/CoralExpire.java
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@ -24,7 +24,7 @@ public class CoralExpire extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
pince.aspirecoral(.5); pince.aspirecoral(-.5);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

1
src/main/java/frc/robot/command/StationPince.java
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@ -10,6 +10,7 @@ import frc.robot.subsystems.Pince;
/* 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 */ /* 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 StationPince extends Command { public class StationPince extends Command {
private Pince pince; private Pince pince;
private Elevateur elevateur; private Elevateur elevateur;
/** Creates a new L2Pince. */ /** Creates a new L2Pince. */