PLS5618/betabot-2023
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This commit is contained in:
Antoine PerreaultE 2022-11-23 19:14:20 -05:00
parent 3d2fed7d28
commit a6f0d7d094
2 changed files with 18 additions and 8 deletions
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7
src/main/java/frc/robot/RobotContainer.java
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@ -19,6 +19,7 @@ import frc.robot.subsystems.Pistonshaker;
// commands // commands
import frc.robot.commands.Activer_poussoir; import frc.robot.commands.Activer_poussoir;
import frc.robot.commands.ActiverBlockeur; import frc.robot.commands.ActiverBlockeur;
import frc.robot.commands.Activer_poussoir;
import frc.robot.commands.Activershaker; import frc.robot.commands.Activershaker;
import frc.robot.commands.DesactiverBlockeur; import frc.robot.commands.DesactiverBlockeur;
@ -66,13 +67,13 @@ public class RobotContainer {
JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value); JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
buttonA.whileHeld(Activer_poussoir); buttonA.whileHeld(Activer_poussoir);
JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value); JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
rightbumper.whileHeld(Pistonshaker); rightbumper.whileHeld(Activershaker);
JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value); JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
buttonY.whenPressed(DesactiverBlockeur, ActiverBlockeur); buttonY.whenPressed(DesactiverBlockeur);
} }
/** /**
* Use this to pass the autonomous command to the main {@link Robot} class. * Use this to pass the autonomous command to the main {@link Robot} class.
* *
* @return the command to run in autonomous * @return the command to run in autonomous

19
src/main/java/frc/robot/commands/BoutonA.java
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@ -9,15 +9,22 @@ import frc.robot.subsystems.Poussoir;
import frc.robot.subsystems.Pistonshaker; import frc.robot.subsystems.Pistonshaker;
public class BoutonA extends CommandBase { public class BoutonA extends CommandBase {
private Poussoir poussoir;
private Pistonshaker pistonshaker;
/** Creates a new boutonA. */ /** Creates a new boutonA. */
public BoutonA() { public BoutonA(Poussoir poussoir, Pistonshaker pistonshaker) {
this.poussoir = poussoir;
this.pistonshaker = pistonshaker;
addRequirements(poussoir, pistonshaker);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@Override @Override
public void initialize() {} public void initialize() {
poussoir.pousser();
pistonshaker.rentrerpiston();
}
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
@ -25,9 +32,11 @@ public class BoutonA extends CommandBase {
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) {} public void end(boolean interrupted) {
poussoir.tirer();
pistonshaker.sortirpiston();
// Returns true when the command should end. }
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return false; return false;