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touche pince+elevateur

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This commit is contained in:
Antoine PerreaultE 2025-01-29 19:19:14 -05:00
parent 126058e9d4
commit afaec61f6d
1 changed files with 25 additions and 5 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -4,28 +4,48 @@
package frc.robot; package frc.robot;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.command.AlgueExpire; import frc.robot.command.AlgueExpire;
import frc.robot.command.CoralAlgueInspire; import frc.robot.command.CoralAlgueInspire;
import frc.robot.command.CoralExpire; import frc.robot.command.CoralExpire;
import frc.robot.command.Depart;
import frc.robot.command.DepartPince;
import frc.robot.command.ElevateurManuel;
import frc.robot.command.L2;
import frc.robot.command.L3;
import frc.robot.command.L4;
import frc.robot.command.StationPince;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette = new CommandXboxController(0); CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(0);
Pince pince = new Pince(); Pince pince = new Pince();
Elevateur elevateur = new Elevateur(); Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
public RobotContainer() { public RobotContainer() {
configureBindings(); configureBindings();
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
} }
private void configureBindings() { private void configureBindings() {
manette.a().whileTrue(new AlgueExpire(pince)); manette1.a().whileTrue(new AlgueExpire(pince));
manette.b().whileTrue(new CoralAlgueInspire(pince)); manette1.b().whileTrue(new CoralAlgueInspire(pince));
manette.x().whileTrue(new CoralExpire(pince)); manette1.x().whileTrue(new CoralExpire(pince));
manette.y().whileTrue(new CoralExpire(pince)); manette1.y().whileTrue(new CoralExpire(pince));
manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
manette2.a().whileTrue(new StationPince(pince));
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {