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nettoyage

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This commit is contained in:
Antoine PerreaultE 2025-02-25 18:15:52 -05:00
parent b6d9ccddb8
commit 606c4e98f3
1 changed files with 16 additions and 18 deletions
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34
src/main/java/frc/robot/RobotContainer.java
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@ -20,11 +20,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; 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.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.TunerConstants.TunerConstants; import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AprilTag3; import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G; import frc.robot.commands.AprilTag3G;
@ -49,35 +47,37 @@ public class RobotContainer {
/* Setting up bindings for necessary control of the swerve drive platform */ /* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric() private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband .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 Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController manette1 = new CommandXboxController(0); private final CommandXboxController manette1 = new CommandXboxController(0);
private final CommandXboxController manette2 = new CommandXboxController(1); private final CommandXboxController manette2 = new CommandXboxController(1);
private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); 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(); Elevateur elevateur = new Elevateur();
Pince pince = new Pince(); Pince pince = new Pince();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY); ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
PinceManuel pinceManuel = new PinceManuel(pince); PinceManuel pinceManuel = new PinceManuel(pince);
PinceManuel2 pinceManuel2 = new PinceManuel2(pince); PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
private final SendableChooser<Command> autoChooser;
Bougie bougie = new Bougie(); Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G(); Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3(); Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d(); 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() { 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() { private void configureBindings() {
// Elevateur manuel // Elevateur manuel
@ -100,8 +100,8 @@ public class RobotContainer {
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left) .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 // reset the field-centric heading on left bumper press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric())); manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
@ -110,9 +110,7 @@ public class RobotContainer {
manette1.b().whileTrue(new L2(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));
drivetrain.registerTelemetry(logger::telemeterize);
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return new SequentialCommandGroup(Commands.runOnce(()->{ return new SequentialCommandGroup(Commands.runOnce(()->{
boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red; boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;