PLS5618/Reefscape-2025
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pince mieux

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This commit is contained in:
Antoine PerreaultE
2025-02-24 18:15:32 -05:00
parent 7be5f8c2fc
commit 93e5bb0b46
10 changed files with 197 additions and 21 deletions
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12
src/main/java/frc/robot/RobotContainer.java
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@@ -10,7 +10,11 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.Algue1Test;
import frc.robot.commands.Algue2Test;
import frc.robot.commands.AlgueExpire;
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;
@@ -38,7 +42,7 @@ public class RobotContainer {
public RobotContainer() {
configureBindings();
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
elevateur.vitesse(MathUtil.applyDeadband(-manette2.getLeftY(), 0.2));
}, elevateur));
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
@@ -57,13 +61,17 @@ public class RobotContainer {
manette1.b().whileTrue(new L2(elevateur,pince));
manette1.x().whileTrue(new L3(elevateur, pince));
manette1.y().whileTrue(new L4(elevateur, pince));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
//manette2
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.povUp().whileTrue(new PinceManuel(pince));
manette2.povDown().whileTrue(new PinceManuel2(pince));
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));
}
public Command getAutonomousCommand() {