PLS5618/Reefscape-2025
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dashboard + limit id

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This commit is contained in:
Antoine PerreaultE
2025-02-25 17:56:24 -05:00
parent f60f129410
commit 3660bb9c4a
4 changed files with 25 additions and 15 deletions
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15
src/main/java/frc/robot/RobotContainer.java
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@@ -68,14 +68,15 @@ public class RobotContainer {
Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d();
private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
}
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
}
private void configureBindings() {
elevateur.setDefaultCommand(new RunCommand(()->{
@@ -100,11 +101,11 @@ public class RobotContainer {
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.a().whileTrue(new reset(elevateur));
manette1.a().whileTrue(new reset(elevateur,pince));
manette1.b().whileTrue(new L2(elevateur, pince));
manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));