PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
EdwardFaucher
2025-02-27 19:04:22 -05:00
parent 4bba37215f b0e09988a3
commit b312854f0b
35 changed files with 830 additions and 84 deletions
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53
src/main/java/frc/robot/RobotContainer.java
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@@ -24,30 +24,27 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.Algue1Test;
import frc.robot.commands.Algue2Test;
import frc.robot.commands.AlgueExpire;
import frc.robot.commands.Algue_inspire;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
import frc.robot.commands.CorailAspir;
import frc.robot.commands.CorailTest;
import frc.robot.commands.CoralAlgueInspire;
import frc.robot.commands.CoralExpire;
import frc.robot.commands.Depart;
import frc.robot.commands.ElevateurManuel;
import frc.robot.commands.Forme3;
import frc.robot.commands.L2;
import frc.robot.commands.L3;
import frc.robot.commands.L4;
import frc.robot.commands.PinceManuel;
import frc.robot.commands.PinceManuel2;
import frc.robot.commands.RainBow;
import frc.robot.commands.StationPince;
import frc.robot.commands.reset;
import frc.robot.commands.Elevateur.Depart;
import frc.robot.commands.Elevateur.ElevateurManuel;
import frc.robot.commands.Elevateur.L2;
import frc.robot.commands.Elevateur.L3;
import frc.robot.commands.Elevateur.L4;
import frc.robot.commands.Pince.AlgueExpire;
import frc.robot.commands.Pince.Algue_inspire;
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.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;
@@ -76,14 +73,12 @@ public class RobotContainer {
Pince pince = new Pince();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
Bougie bougie = new Bougie();
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 +113,35 @@ 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,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));
}
// 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() {