PLS5618/Reefscape-2025
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sisid manque drive

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This commit is contained in:
Antoine PerreaultE
2025-02-20 19:20:23 -05:00
parent 6ccef6bad9
commit f10dc1165d
3 changed files with 8 additions and 2 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
@@ -77,6 +78,10 @@ public class RobotContainer {
);
// reset the field-centric heading on left bumper press
manette1.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette1.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette1.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette1.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));