PLS5618/betabot-2023
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Merge remote-tracking branch 'origin/Conduire'

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This commit is contained in:
Olivier Dubois 2022-11-21 18:48:19 -05:00
commit bfe9d3c62b
2 changed files with 19 additions and 4 deletions
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9
src/main/java/frc/robot/RobotContainer.java
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@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc.robot.subsystems.BasePilotable;
/** /**
* This class is where the bulk of the robot should be declared. Since Command-based is a * This class is where the bulk of the robot should be declared. Since Command-based is a
@ -17,12 +19,19 @@ import edu.wpi.first.wpilibj2.command.Command;
*/ */
public class RobotContainer { public class RobotContainer {
// The robot's subsystems and commands are defined here... // The robot's subsystems and commands are defined here...
XboxController manette = new XboxController(0);
BasePilotable basePilotable = new BasePilotable();
/** The container for the robot. Contains subsystems, OI devices, and commands. */ /** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() { public RobotContainer() {
// Configure the button bindings // Configure the button bindings
configureButtonBindings(); configureButtonBindings();
basePilotable.setDefaultCommand(
new RunCommand(
()-> basePilotable.drive(manette.getLeftY(), manette.getLeftX(), manette.getLeftTriggerAxis()-manette.getRightTriggerAxis()), basePilotable)
);
} }
/** /**

10
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -5,6 +5,7 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.drive.MecanumDrive; import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
@ -23,8 +24,12 @@ private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroi
private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit); private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
private void drive(double y, double x, double rot){ private AHRS gyroscope = new AHRS();
mecanum.driveCartesian(y, x, rot, 0); public double getangle() {
return gyroscope.getAngle();
}
public void drive(double y, double x, double rot){
mecanum.driveCartesian(y, x, rot, getangle());
} }
/** Creates a new BasePilotable. */ /** Creates a new BasePilotable. */
public BasePilotable() { public BasePilotable() {
@ -36,4 +41,5 @@ private void drive(double y, double x, double rot){
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
} }
} }