PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE 2025-02-27 19:03:36 -05:00
parent b0e09988a3
commit 9cb0940f09
1 changed files with 47 additions and 42 deletions
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89
src/main/java/frc/robot/RobotContainer.java
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@ -41,6 +41,9 @@ import frc.robot.commands.Pince.CorailAspir;
import frc.robot.commands.Pince.CoralAlgueInspire;
import frc.robot.commands.Pince.CoralExpire;
import frc.robot.commands.Pince.PinceManuel;
import frc.robot.commands.requin.BalayeuseBas;
import frc.robot.commands.requin.BalayeuseHaut;
import frc.robot.commands.requin.exspire;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Elevateur;
@ -48,6 +51,7 @@ import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince;
import frc.robot.subsystems.Requin;
public class RobotContainer {
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@ -78,6 +82,7 @@ public class RobotContainer {
Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d();
Grimpeur Grimpeur = new Grimpeur();
Requin requin = new Requin();
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
@ -91,17 +96,47 @@ public class RobotContainer {
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
}
private void configureBindings() {
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
drivetrain.registerTelemetry(logger::telemeterize);
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
)
);
// Elevateur manuel
drivetrain.registerTelemetry(logger::telemeterize);
/* Manette 1 */
// reset the field-centric heading on start press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
//pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
//elevateur
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));
/* Manette 2 */
//pince
manette2.a().whileTrue(new CorailAspir(pince));
manette2.b().whileTrue(new Algue_inspire(pince));
manette2.y().whileTrue(new BalayeuseHaut(requin));
manette2.x().whileTrue(new BalayeuseBas(requin));
manette2.rightTrigger().whileTrue(new exspire(requin));
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
}, pince));
//Elevateur manuel
elevateur.setDefaultCommand(new RunCommand(()->{
if(elevateur.limit2()){
elevateur.vitesse(0);
@ -111,43 +146,13 @@ public class RobotContainer {
}
}, elevateur));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
}, pince));
// manette1
// reset the field-centric heading on start press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
//elevateur
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));
//pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
//manette2
//pince
manette2.a().whileTrue(new CorailAspir(pince));
manette2.start().whileTrue(new reset(elevateur, pince));
manette2.b().whileTrue(new Algue_inspire(pince));
manette2.start().whileTrue(new reset(elevateur,pince));
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
//limelight
manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
}
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince));
}
public Command getAutonomousCommand() {
return new SequentialCommandGroup(Commands.runOnce(()->{