PLS5618/Reefscape-2025
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joysticks mieux^3

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This commit is contained in:
EdwardFaucher 2025-02-27 19:03:26 -05:00
parent 42fb45d2de
commit 4bba37215f
2 changed files with 7 additions and 7 deletions
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12
src/main/java/frc/robot/RobotContainer.java
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@ -100,20 +100,20 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward) drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left) .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left) .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
) )
); );
// Elevateur manuel // Elevateur manuel
drivetrain.registerTelemetry(logger::telemeterize); drivetrain.registerTelemetry(logger::telemeterize);
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1)); elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
}, elevateur)); }, elevateur));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1)); pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
}, pince)); }, pince));
@ -130,7 +130,7 @@ public class RobotContainer {
//manette2 //manette2
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.a().whileTrue(new CorailAspir(pince)); manette2.a().whileTrue(new CorailAspir(pince));
manette2.start().whileTrue(new reset(elevateur)); manette2.start().whileTrue(new reset(elevateur,pince));
manette2.b().whileTrue(new Algue_inspire(pince)); manette2.b().whileTrue(new Algue_inspire(pince));
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));

2
src/main/java/frc/robot/commands/reset.java
View File

@ -15,7 +15,7 @@ public class reset extends Command {
/** Creates a new reset. */ /** Creates a new reset. */
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince; private Pince pince;
public reset(Elevateur elevateur) { public reset(Elevateur elevateur, Pince pince) {
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; this.pince = pince;