PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-04 10:06:12 -05:00
parent b1124bd3f0
commit a420d3ff2f
2 changed files with 15 additions and 13 deletions
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22
src/main/java/frc/robot/RobotContainer.java
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@@ -85,7 +85,7 @@ public class RobotContainer {
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;
//private final SendableChooser<Command> autoChooser;
public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
}
@@ -104,16 +104,16 @@ public class RobotContainer {
public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
// NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
// NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
// NamedCommands.registerCommand("L4", new L4(elevateur, pince));
// NamedCommands.registerCommand("L3", new L3(elevateur, pince));
// NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
// NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
// NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
// NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
//autoChooser = AutoBuilder.buildAutoChooser("New Auto");
//SmartDashboard.putData("Auto Mode", autoChooser);
}
private void configureBindings() {