PLS5618/Reefscape-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Bougie(pas fini)

Browse Source
This commit is contained in:
Antoine PerreaultE
2025-02-10 19:49:13 -05:00
parent 451d3c6e20
commit 319c370c6e
4 changed files with 63 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
src/main/java/frc/robot/RobotContainer.java
View File

@@ -4,14 +4,9 @@
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.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.AlgueExpire;
@@ -27,12 +22,12 @@ import frc.robot.commands.L4;
import frc.robot.commands.StationPince;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
import frc.robot.subsystems.Bougie;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
// private final SendableChooser<Command> autoChooser;
Bougie bougie = new Bougie();
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,21 +36,21 @@ public class RobotContainer {
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
/* NamedCommands.registerCommand("Station",new StationPince(pince, 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("CoralExpire",new CoralExpire(pince,bougie));
NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
autoChooser = AutoBuilder.buildAutoChooser();*/
}
private void configureBindings() {
// manette1
manette1.a().whileTrue(new AlgueExpire(pince));
manette1.b().whileTrue(new CoralAlgueInspire(pince));
manette1.x().whileTrue(new CoralInspire(pince));
manette1.y().whileTrue(new CoralExpire(pince));
manette1.x().whileTrue(new CoralInspire(pince,bougie));
manette1.y().whileTrue(new CoralExpire(pince,bougie));
manette1.povUp().whileTrue(new L4(elevateur, pince));
manette1.povRight().whileTrue(new L2(elevateur, pince));
manette1.povLeft().whileTrue(new L3(elevateur, pince));
@@ -64,8 +59,8 @@ public class RobotContainer {
manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
manette2.a().whileTrue(new StationPince(pince,elevateur));
}
public Command getAutonomousCommand() {
return null;// autoChooser.getSelected();
return Command()
}
}