nettoyage

src/main/java/frc/robot/RobotContainer.java

@@ -20,11 +20,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
@@ -49,35 +47,37 @@ public class RobotContainer {
   /* Setting up bindings for necessary control of the swerve drive platform */
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
     .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-    .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage
+    ); // Use open-loop control for drive motors
 
   private final Telemetry logger = new Telemetry(MaxSpeed);
-
   private final CommandXboxController manette1 = new CommandXboxController(0);
   private final CommandXboxController manette2 = new CommandXboxController(1);
-  
+  private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  private final SendableChooser<Command> autoChooser;
+  public double getAngle() {
+    return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
+  }
+  
   Elevateur elevateur = new Elevateur();
   Pince pince = new Pince();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
   PinceManuel pinceManuel = new PinceManuel(pince);
   PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
-  private final SendableChooser<Command> autoChooser;
   Bougie bougie = new Bougie();
   Limelight3G limelight3g = new Limelight3G();
   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");
+    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-  SmartDashboard.putData("Auto Mode", autoChooser);
+    SmartDashboard.putData("Auto Mode", autoChooser);
-  configureBindings();
+    configureBindings();
-  NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-  }
+    }
   private void configureBindings() {
     // Elevateur manuel
 
@@ -100,7 +100,7 @@ public class RobotContainer {
               .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
         )
       );
-
+    drivetrain.registerTelemetry(logger::telemeterize);
 
     // reset the field-centric heading on left bumper press
     manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
@@ -110,9 +110,7 @@ public class RobotContainer {
     manette1.b().whileTrue(new L2(elevateur, pince));
     
     // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
-    drivetrain.registerTelemetry(logger::telemeterize);
   }  
-
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(Commands.runOnce(()->{
         boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;