Merge branch 'Swerve'

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

@@ -4,8 +4,23 @@
 
 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.MathUtil;
+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;
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 
@@ -16,12 +31,49 @@ public class RobotContainer {
     
     public RobotContainer() {
 
+=======
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+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.RainBow;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Grimpeur;
+
+
+public class RobotContainer {
+    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
+
+    /* 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
+
+    private final Telemetry logger = new Telemetry(MaxSpeed);
+
+    private final CommandXboxController manette1 = new CommandXboxController(0);
+    private final CommandXboxController manette2 = new CommandXboxController(0);
+
+    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+    
+    private final SendableChooser<Command> autoChooser;
+    Bougie bougie = new Bougie();
+    
+    
+    public RobotContainer() {
+        autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+        SmartDashboard.putData("Auto Mode", autoChooser);
+>>>>>>> Swerve
         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.
+<<<<<<< HEAD
 
         // Run SysId routines when holding back/start and X/Y.
         // Note that each routine should be run exactly once in a single log.
@@ -31,4 +83,36 @@ public class RobotContainer {
     public Command getAutonomousCommand() {
         return Commands.print("");
     }
+=======
+        drivetrain.setDefaultCommand(
+            // Drivetrain will execute this command periodically
+            drivetrain.applyRequest(() ->
+                drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY(), 0.5)) // Drive forward with negative Y (forward)
+                    .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX(), 0.5)) // Drive left with negative X (left)
+                    .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.5)) // Drive counterclockwise with negative X (left)
+            )
+        );
+
+
+        // reset the field-centric heading on left bumper press
+        manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+
+        drivetrain.registerTelemetry(logger::telemeterize);
+    }
+
+   
+        public Command getAutonomousCommand() {
+            return 
+             new 
+            ParallelCommandGroup(
+              autoChooser
+                     .getSelected(),
+            new 
+            RainBow
+            (
+                bougie
+                )
+            );
+         }
+>>>>>>> Swerve
 }