PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-04 17:37:15 -05:00
parent 004890fd7b
commit c0e7985ab7
6 changed files with 54 additions and 54 deletions
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20
src/main/java/frc/robot/RobotContainer.java
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@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -78,7 +79,6 @@ 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;
public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
}
@@ -160,24 +160,24 @@ public class RobotContainer {
drivetrain.applyRequest(()->
drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()->
drive.withVelocityX(0.5*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3),
.withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()->
drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()->
drive.withVelocityX(-0.5*MaxSpeed)
drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2),
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()->
drive.withVelocityX(0)
.withVelocityY(0)
.withRotationalRate(0)).withTimeout(0.1),
new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
drivetrain.applyRequest(()->
drive.withVelocityX(0.2*MaxSpeed)
drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5),
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.25),
drivetrain.applyRequest(()->
drive.withVelocityX(0*MaxSpeed)
.withVelocityY(0)