PLS5618/Reefscape-2025
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LE MODE AUTO MARCHE

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This commit is contained in:
Antoine PerreaultE
2025-12-10 19:01:01 -05:00
parent fa30757990
commit 7032b95c60
1 changed files with 4 additions and 4 deletions
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8
src/main/java/frc/robot/RobotContainer.java
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@@ -102,7 +102,6 @@ public class RobotContainer {
} }
private void configureBindings() { private void configureBindings() {
drivetrain.registerTelemetry(logger::telemeterize);
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
@@ -117,7 +116,7 @@ public class RobotContainer {
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie)); manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie));
manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie)); manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); // manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain1,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie)); manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
manette1.leftTrigger().whileTrue(new DepartPince(pince)); manette1.leftTrigger().whileTrue(new DepartPince(pince));
manette1.povDown().whileTrue(new Algue_inspire(pince,bougie)); manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
@@ -141,8 +140,8 @@ public class RobotContainer {
manette2.x().whileTrue(new ExpireCorail(requin, bougie)); manette2.x().whileTrue(new ExpireCorail(requin, bougie));
//limelight //limelight
manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); // manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY)); // manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
@@ -156,6 +155,7 @@ public class RobotContainer {
//Reset encodeur //Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince, requin)); manette2.start().whileTrue(new reset(elevateur, pince, requin));
drivetrain.registerTelemetry(logger::telemeterize);
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {