Modes Autos complets

src/main/java/frc/robot/RobotContainer.java

@@ -4,17 +4,81 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
+
+import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.commands.Grimpe;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Grimpeur;
+
 
 public class RobotContainer {
-  public RobotContainer() {
-    configureBindings();
-  }
+    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+    private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
-  private void configureBindings() {}
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
 
-  public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
-  }
+    private final Telemetry logger = new Telemetry(MaxSpeed);
+
+    private final CommandXboxController joystick = new CommandXboxController(0);
+
+    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+    
+    private final SendableChooser<Command> autoChooser;
+    
+    
+    
+    public RobotContainer() {
+        autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+        SmartDashboard.putData("Auto Mode", autoChooser);
+        configureBindings();
+    }
+
+    private void configureBindings() {
+        // Note that X is defined as forward according to WPILib convention,
+        // and Y is defined as to the left according to WPILib convention.
+        drivetrain.setDefaultCommand(
+            // Drivetrain will execute this command periodically
+            drivetrain.applyRequest(() ->
+                drive.withVelocityX(-joystick.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
+                    .withVelocityY(-joystick.getLeftX() * MaxSpeed) // Drive left with negative X (left)
+                    .withRotationalRate(-joystick.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
+            )
+        );
+
+        // Run SysId routines when holding back/start and X/Y.
+        // Note that each routine should be run exactly once in a single log.
+        joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
+        joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
+        joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
+        joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
+
+        // reset the field-centric heading on left bumper press
+        joystick.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+
+        drivetrain.registerTelemetry(logger::telemeterize);
+    }
+
+    public Command getAutonomousCommand() {
+        return autoChooser.getSelected();
+    }
 }