PLS5618/Reefscape-2025
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touche

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This commit is contained in:
samuel desharnais 2025-03-01 14:52:56 -05:00
parent d1f9d55c3a
commit 0c36717d13
1 changed files with 5 additions and 5 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -123,9 +123,9 @@ public class RobotContainer {
//pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new AlgueExpire(pince, bougie));
manette2.a().whileTrue(new CorailAspir(pince,bougie));
manette2.b().whileTrue(new Algue_inspire(pince,bougie));
//elevateur
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
@ -134,15 +134,14 @@ public class RobotContainer {
/* Manette 2 */
//requin
manette2.a().whileTrue(new CorailAspir(pince,bougie));
manette2.b().whileTrue(new Algue_inspire(pince,bougie));
manette1.leftTrigger().whileTrue(new exspire(requin, bougie));
manette2.y().whileTrue(new BalayeuseAlgue(requin,bougie));
manette2.x().whileTrue(new BalayeuseHaut(requin));
manette2.rightTrigger().whileTrue(new ExpireAlgue(requin, bougie));
manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
manette1.povUp().whileTrue(new L1Requin(requin, bougie));
manette2.povUp().whileTrue(new aspire(requin, bougie));
//Pince manuel
//Pince manuelle
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
}, pince));
@ -155,6 +154,7 @@ public class RobotContainer {
//limelight
manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince));