PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-02-20 20:25:59 -05:00
parent 1627770572
commit 0be9356fa9
5 changed files with 16 additions and 4 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@@ -20,6 +20,7 @@ import frc.robot.commands.ElevateurManuel;
import frc.robot.commands.L2;
import frc.robot.commands.L3;
import frc.robot.commands.L4;
import frc.robot.commands.PinceManuel;
import frc.robot.commands.StationPince;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
@@ -32,11 +33,15 @@ public class RobotContainer {
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
PinceManuel pinceManuel = new PinceManuel(pince, manette2::getRightY);
public RobotContainer() {
configureBindings();
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
}, pince));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));