PLS5618/Reefscape-2025
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touche reset

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This commit is contained in:
Antoine PerreaultE 2025-02-26 19:48:48 -05:00
parent b947c93ab7
commit a5f9a28c6f
2 changed files with 16 additions and 13 deletions
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27
src/main/java/frc/robot/RobotContainer.java
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@ -48,6 +48,7 @@ import frc.robot.commands.reset;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince;
@ -81,9 +82,8 @@ public class RobotContainer {
Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d();
Grimpeur Grimpeur = new Grimpeur();
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
@ -118,31 +118,34 @@ public class RobotContainer {
// manette1
// reset the field-centric heading on left bumper press
// 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
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
//pince
manette2.a().whileTrue(new CorailAspir(pince));
manette2.start().whileTrue(new reset(elevateur));
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));
}
// Note that X is defined as forward according to WPILib convention,
// and Y is defined as to the left according to WPILib convention.
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
public Command getAutonomousCommand() {

2
src/main/java/frc/robot/commands/reset.java
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@ -15,7 +15,7 @@ public class reset extends Command {
/** Creates a new reset. */
private Elevateur elevateur;
private Pince pince;
public reset(Elevateur elevateur) {
public reset(Elevateur elevateur, Pince pince) {
// Use addRequirements() here to declare subsystem dependencies.
this.elevateur = elevateur;
this.pince = pince;