PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-01 13:53:13 -05:00
parent 30b0ad39f0
commit d1f9d55c3a
19 changed files with 95 additions and 94 deletions
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27
src/main/java/frc/robot/RobotContainer.java
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@@ -41,9 +41,17 @@ 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.commands.grimpeur.GrimperHaut;
import frc.robot.commands.grimpeur.GrimpeurBas;
import frc.robot.commands.grimpeur.GrimpeurManuelhaut;
import frc.robot.commands.grimpeur.ResetGrimpeur;
import frc.robot.commands.requin.BalayeuseAlgue;
import frc.robot.commands.requin.BalayeuseBas;
import frc.robot.commands.requin.BalayeuseCoral;
import frc.robot.commands.requin.BalayeuseHaut;
import frc.robot.commands.requin.ExpireAlgue;
import frc.robot.commands.requin.L1Requin;
import frc.robot.commands.requin.aspire;
import frc.robot.commands.requin.exspire;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -84,7 +92,7 @@ public class RobotContainer {
Pose2d pose = new Pose2d();
Grimpeur Grimpeur = new Grimpeur();
Requin requin = new Requin();
CorailAspir corailAspir = new CorailAspir(pince, bougie);
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
@@ -117,7 +125,7 @@ public class RobotContainer {
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new AlgueExpire(pince, bougie));
//elevateur
manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince));
@@ -128,11 +136,12 @@ public class RobotContainer {
//requin
manette2.a().whileTrue(new CorailAspir(pince,bougie));
manette2.b().whileTrue(new Algue_inspire(pince,bougie));
manette2.y().whileTrue(new BalayeuseHaut(requin));
manette2.x().whileTrue(new BalayeuseBas(requin));
manette2.rightTrigger().whileTrue(new exspire(requin,bougie));
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.y().whileTrue(new BalayeuseAlgue(requin,bougie));
manette2.x().whileTrue(new BalayeuseHaut(requin));
manette2.rightTrigger().whileTrue(new ExpireAlgue(requin, bougie));
manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
manette1.povUp().whileTrue(new L1Requin(requin, bougie));
manette2.povUp().whileTrue(new aspire(requin, bougie));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
@@ -149,8 +158,10 @@ public class RobotContainer {
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince));
//grimpeur manuel
//grimpeur
manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
}
public Command getAutonomousCommand() {