Merge branch 'main' of https://demerso.net/pls5618/2023/betabots

joln

src/main/java/frc/robot/RobotContainer.java

@@ -8,24 +8,34 @@ import edu.wpi.first.math.estimator.KalmanFilter;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
-
+import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+// subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Poussoir;
 import frc.robot.subsystems.Pistonshaker;
+// commands
 import frc.robot.commands.Activer_poussoir;
 import frc.robot.commands.ActiverBlockeur;
+<<<<<<< HEAD
 import frc.robot.commands.DesactiverBlockeur;
 import frc.robot.commands.Reculer;
 import frc.robot.commands.TournerDroite;
 import frc.robot.commands.TournerGauche;
 import frc.robot.commands.Activershaker;
 import frc.robot.commands.Avancer;
+=======
+import frc.robot.commands.Activershaker;
+import frc.robot.commands.DesactiverBlockeur;
+>>>>>>> 3d2fed7d28e2c16a03399281bc03d1cf3df4f6d1
 
 
+
+import frc.robot.commands.BoutonA;
+
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -38,6 +48,13 @@ public class RobotContainer {
   
   BasePilotable basePilotable = new BasePilotable();
   
+  private Pistonshaker pistonshaker = new Pistonshaker();
+  private Poussoir poussoir = new Poussoir();
+  
+  private Activer_poussoir Activer_poussoir = new Activer_poussoir(poussoir);
+  private ActiverBlockeur ActiverBlockeur = new ActiverBlockeur(poussoir);
+  private Activershaker Activershaker = new Activershaker(pistonshaker);
+  private DesactiverBlockeur DesactiverBlockeur = new DesactiverBlockeur(poussoir);
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
@@ -56,10 +73,12 @@ public class RobotContainer {
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-
+    JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
-    
+    buttonA.whileHeld(Activer_poussoir);
-
+    JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
-
+    rightbumper.whileHeld(Pistonshaker);
+    JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
+    buttonY.whenPressed(DesactiverBlockeur, ActiverBlockeur);
 
   }
 

src/main/java/frc/robot/commands/BoutonA.java

@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Poussoir;
+import frc.robot.subsystems.Pistonshaker;
+
+public class BoutonA extends CommandBase {
+  /** Creates a new boutonA. */
+  public BoutonA() {
+    
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}