PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
samuel desharnais 2025-02-26 20:13:16 -05:00
commit 30cc85d34e
1 changed files with 15 additions and 11 deletions
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26
src/main/java/frc/robot/RobotContainer.java
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@ -48,6 +48,7 @@ import frc.robot.commands.reset;
import frc.robot.subsystems.Bougie; import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Limelight3; import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G; import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
@ -81,9 +82,8 @@ public class RobotContainer {
Limelight3G limelight3g = new Limelight3G(); Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3(); Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d(); Pose2d pose = new Pose2d();
Grimpeur Grimpeur = new Grimpeur();
public RobotContainer() { public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto"); autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser); SmartDashboard.putData("Auto Mode", autoChooser);
@ -118,31 +118,35 @@ public class RobotContainer {
// manette1 // manette1
// reset the field-centric heading on left bumper press
// reset the field-centric heading on start press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric())); manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
//elevateur
manette1.a().whileTrue(new Depart(elevateur, pince)); manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince)); manette1.b().whileTrue(new L2(elevateur,pince));
manette1.x().whileTrue(new L3(elevateur, pince)); manette1.x().whileTrue(new L3(elevateur, pince));
manette1.y().whileTrue(new L4(elevateur, pince)); manette1.y().whileTrue(new L4(elevateur, pince));
//pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur)); manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie)); manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
//manette2 //manette2
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
//pince
manette2.a().whileTrue(new CorailAspir(pince)); manette2.a().whileTrue(new CorailAspir(pince));
manette2.start().whileTrue(new reset(elevateur, pince)); manette2.start().whileTrue(new reset(elevateur, pince));
manette2.b().whileTrue(new Algue_inspire(pince)); manette2.b().whileTrue(new Algue_inspire(pince));
manette2.start().whileTrue(new reset(elevateur,pince));
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
//limelight
manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
} }
// Note that X is defined as forward according to WPILib convention,
// and Y is defined as to the left according to WPILib convention.
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
public Command getAutonomousCommand() { public Command getAutonomousCommand() {