PLS5618/betabot-2023
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This commit is contained in:
samuel desharnais 2022-11-23 19:48:58 -05:00
parent db39b5c3db
commit c021192516
1 changed files with 15 additions and 15 deletions
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30
src/main/java/frc/robot/RobotContainer.java
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@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button; import edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -20,17 +21,14 @@ 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;
<<<<<<< HEAD
import frc.robot.commands.DesactiverBlockeur; import frc.robot.commands.DesactiverBlockeur;
import frc.robot.commands.Reculer; import frc.robot.commands.Reculer;
import frc.robot.commands.TournerDroite; import frc.robot.commands.TournerDroite;
import frc.robot.commands.TournerGauche; import frc.robot.commands.TournerGauche;
import frc.robot.commands.Activershaker; import frc.robot.commands.Activershaker;
import frc.robot.commands.Avancer; import frc.robot.commands.Avancer;
=======
import frc.robot.commands.Activershaker; import frc.robot.commands.Activershaker;
import frc.robot.commands.DesactiverBlockeur; import frc.robot.commands.DesactiverBlockeur;
>>>>>>> 3d2fed7d28e2c16a03399281bc03d1cf3df4f6d1
@ -90,17 +88,19 @@ public class RobotContainer {
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
// An ExampleCommand will run in autonomous // An ExampleCommand will run in autonomous
return new SequentialCommandGroup( return new SequentialCommandGroup(
new Reculer(basePilotable).withTimeout(0.5), new Reculer(basePilotable).withTimeout(SmartDashboard.getNumber("temps reculer", 1)),
new TournerGauche(basePilotable).withTimeout(0.5), new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche1",1)),
new Avancer(basePilotable).withTimeout(0.5), new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avencer1",1)),
new TournerDroite(basePilotable).withTimeout(0.5), new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite1",1)),
new Avancer(basePilotable).withTimeout(0.5), new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer2",1)),
new TournerGauche(basePilotable).withTimeout(0.5), new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche2",1)),
new Avancer(basePilotable).withTimeout(0.5), new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer3",1)),
new TournerDroite(basePilotable).withTimeout(0.5), new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite 2",1)),
new Avancer(basePilotable).withTimeout(0.5), new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer4",1)),
new Activer_poussoir(poussoir).withTimeout(0.3), new DesactiverBlockeur(poussoir).withTimeout(SmartDashboard.getNumber("temps du b1",0.8)),
new Activershaker(pistonshaker) new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser1",1)),
); new Activershaker(pistonshaker).withTimeout(SmartDashboard.getNumber("temps du b2",1)),
new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser2",1)));
} }
} }