From e6b48545ab22f48cb457d4c37c33c0a3c7eba219 Mon Sep 17 00:00:00 2001 From: OlivierDubois Date: Mon, 21 Nov 2022 18:47:13 -0500 Subject: [PATCH] Robot peut bouger --- src/main/java/frc/robot/RobotContainer.java | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a1966a9..8ecee90 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; 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 @@ -17,12 +19,19 @@ import edu.wpi.first.wpilibj2.command.Command; */ public class RobotContainer { // 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. */ public RobotContainer() { // Configure the button bindings configureButtonBindings(); + + basePilotable.setDefaultCommand( + new RunCommand( + ()-> basePilotable.drive(manette.getLeftY(), manette.getLeftX(), manette.getLeftTriggerAxis()-manette.getRightTriggerAxis()), basePilotable) + ); } /**