68 lines
2.8 KiB
Java
68 lines
2.8 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import com.pathplanner.lib.auto.NamedCommands;
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import edu.wpi.first.math.MathUtil;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import frc.robot.commands.AlgueExpire;
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import frc.robot.commands.CoralAlgueInspire;
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import frc.robot.commands.CoralExpire;
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import frc.robot.commands.CoralInspire;
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import frc.robot.commands.Depart;
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import frc.robot.commands.DepartPince;
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import frc.robot.commands.ElevateurManuel;
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import frc.robot.commands.L2;
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import frc.robot.commands.L3;
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import frc.robot.commands.L4;
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import frc.robot.commands.StationPince;
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import frc.robot.subsystems.Elevateur;
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import frc.robot.subsystems.Pince;
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import frc.robot.subsystems.Bougie;
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public class RobotContainer {
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CommandXboxController manette1 = new CommandXboxController(0);
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CommandXboxController manette2 = new CommandXboxController(1);
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Bougie bougie = new Bougie();
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Pince pince = new Pince();
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Elevateur elevateur = new Elevateur();
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ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
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public RobotContainer() {
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configureBindings();
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elevateur.setDefaultCommand(new RunCommand(()->{
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elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
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}, elevateur));
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NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
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NamedCommands.registerCommand("L4", new L4(elevateur, pince));
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NamedCommands.registerCommand("L3", new L3(elevateur, pince));
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NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
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NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
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NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
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}
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private void configureBindings() {
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// manette1
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manette1.a().whileTrue(new AlgueExpire(pince,bougie));
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manette1.b().whileTrue(new CoralAlgueInspire(pince,bougie));
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manette1.x().whileTrue(new CoralInspire(pince,bougie));
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manette1.y().whileTrue(new CoralExpire(pince,bougie));
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manette1.povUp().whileTrue(new L4(elevateur, pince));
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manette1.povRight().whileTrue(new L2(elevateur, pince));
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manette1.povLeft().whileTrue(new L3(elevateur, pince));
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manette1.povDown().whileTrue(new Depart(elevateur, pince));
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//manette2
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manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
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manette2.a().whileTrue(new StationPince(pince,elevateur));
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}
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public Command getAutonomousCommand() {
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return Commands.print("No autonomous command configured");
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}
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}
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