PLS5618/Reefscape-2025
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Merge branch 'pince'

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This commit is contained in:
Antoine PerreaultE
2025-02-26 18:02:25 -05:00
parent 6c6abb58e1 e58cdf0b5b
commit 5700ea70d9
3 changed files with 57 additions and 26 deletions
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61
src/main/java/frc/robot/RobotContainer.java
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@@ -30,6 +30,11 @@ import frc.robot.commands.AlgueExpire;
import frc.robot.commands.Algue_inspire;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
import frc.robot.commands.CorailAspir;
import frc.robot.commands.CorailTest;
import frc.robot.commands.CoralAlgueInspire;
import frc.robot.commands.CoralExpire;
import frc.robot.commands.Depart;
import frc.robot.commands.ElevateurManuel;
import frc.robot.commands.Forme3;
import frc.robot.commands.L2;
@@ -38,6 +43,7 @@ import frc.robot.commands.L4;
import frc.robot.commands.PinceManuel;
import frc.robot.commands.PinceManuel2;
import frc.robot.commands.RainBow;
import frc.robot.commands.StationPince;
import frc.robot.commands.reset;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -69,7 +75,7 @@ public class RobotContainer {
Elevateur elevateur = new Elevateur();
Pince pince = new Pince();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
PinceManuel pinceManuel = new PinceManuel(pince);
PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G();
@@ -83,22 +89,15 @@ public class RobotContainer {
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
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,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
}
private void configureBindings() {
// Elevateur manuel
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
}, pince));
// Note that X is defined as forward according to WPILib convention,
// and Y is defined as to the left according to WPILib convention.
drivetrain.setDefaultCommand(
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
@@ -107,12 +106,19 @@ public class RobotContainer {
)
);
drivetrain.registerTelemetry(logger::telemeterize);
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
}, pince));
// reset the field-centric heading on left bumper press
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,pince));
manette2.a().whileTrue(new Algue_inspire(pince));
@@ -120,9 +126,32 @@ public class RobotContainer {
manette2.x().whileTrue(new L3(elevateur, pince));
manette2.y().whileTrue(new L4(elevateur, pince));
manette2.rightBumper().whileTrue(new AlgueExpire(pince, bougie));
// manette1
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
manette1.x().whileTrue(new L3(elevateur, pince));
manette1.y().whileTrue(new L4(elevateur, pince));
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
//manette2
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.a().whileTrue(new CorailAspir(pince));
manette2.b().whileTrue(new CoralExpire(pince, bougie));
manette2.povLeft().whileTrue(new Algue1Test(pince));
manette2.povRight().whileTrue(new Algue2Test(pince));
manette2.x().whileTrue(new CorailTest(pince));
manette2.start().whileTrue(new reset(elevateur));
}
// 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));
}
public Command getAutonomousCommand() {
return new SequentialCommandGroup(Commands.runOnce(()->{
boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;