PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-01 14:53:24 -05:00
parent d1f9d55c3a
commit 300c177ae0
7 changed files with 24 additions and 95 deletions
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35
src/main/java/frc/robot/RobotContainer.java
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@@ -49,10 +49,8 @@ import frc.robot.commands.requin.BalayeuseAlgue;
import frc.robot.commands.requin.BalayeuseBas;
import frc.robot.commands.requin.BalayeuseCoral;
import frc.robot.commands.requin.BalayeuseHaut;
import frc.robot.commands.requin.ExpireAlgue;
import frc.robot.commands.requin.ExpireCorail;
import frc.robot.commands.requin.L1Requin;
import frc.robot.commands.requin.aspire;
import frc.robot.commands.requin.exspire;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Elevateur;
@@ -61,6 +59,7 @@ import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince;
import frc.robot.subsystems.Requin;
import frc.robot.commands.requin.exspire;
public class RobotContainer {
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -123,9 +122,9 @@ 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.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new AlgueExpire(pince, bougie));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
//elevateur
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
@@ -133,15 +132,21 @@ public class RobotContainer {
manette1.y().whileTrue(new L4(elevateur, pince));
/* Manette 2 */
//requin
manette2.a().whileTrue(new CorailAspir(pince,bougie));
manette2.b().whileTrue(new Algue_inspire(pince,bougie));
manette2.y().whileTrue(new BalayeuseAlgue(requin,bougie));
manette2.x().whileTrue(new BalayeuseHaut(requin));
manette2.rightTrigger().whileTrue(new ExpireAlgue(requin, bougie));
//requin
manette2.rightBumper().whileTrue(new BalayeuseAlgue(requin,bougie));
manette2.leftBumper().whileTrue(new L1Requin(requin, bougie));
manette2.rightTrigger().whileTrue(new BalayeuseHaut(requin));
manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
manette1.povUp().whileTrue(new L1Requin(requin, bougie));
manette2.povUp().whileTrue(new aspire(requin, bougie));
manette2.y().whileTrue(new exspire(requin, bougie));
manette2.x().whileTrue(new ExpireCorail(requin, bougie));
//grimpeur
manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
@@ -153,15 +158,9 @@ public class RobotContainer {
}, elevateur));
//limelight
manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.povUp().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince));
//grimpeur
manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
}
public Command getAutonomousCommand() {