107 lines
4.9 KiB
Java
107 lines
4.9 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.math.estimator.KalmanFilter;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.XboxController.Button;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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// subsystems
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import frc.robot.subsystems.BasePilotable;
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import frc.robot.subsystems.Poussoir;
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import frc.robot.subsystems.Pistonshaker;
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// commands
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import frc.robot.commands.Activer_poussoir;
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import frc.robot.commands.ActiverBlockeur;
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import frc.robot.commands.DesactiverBlockeur;
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import frc.robot.commands.Reculer;
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import frc.robot.commands.TournerDroite;
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import frc.robot.commands.TournerGauche;
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import frc.robot.commands.Activershaker;
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import frc.robot.commands.Avancer;
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import frc.robot.commands.Activershaker;
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import frc.robot.commands.DesactiverBlockeur;
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import frc.robot.commands.BoutonA;
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/**
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
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* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
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* subsystems, commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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// The robot's subsystems and commands are defined here...
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XboxController manette = new XboxController(0);
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BasePilotable basePilotable = new BasePilotable();
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private Pistonshaker pistonshaker = new Pistonshaker();
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private Poussoir poussoir = new Poussoir();
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private Activer_poussoir Activer_poussoir = new Activer_poussoir(poussoir);
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private ActiverBlockeur ActiverBlockeur = new ActiverBlockeur(poussoir);
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private Activershaker Activershaker = new Activershaker(pistonshaker);
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private DesactiverBlockeur DesactiverBlockeur = new DesactiverBlockeur(poussoir);
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/** The container for the robot. Contains subsystems, OI devices, and commands. */
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public RobotContainer() {
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// Configure the button bindings
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configureButtonBindings();
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basePilotable.setDefaultCommand(
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new RunCommand(
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()-> basePilotable.drive(manette.getLeftY(), manette.getLeftX(), manette.getLeftTriggerAxis()-manette.getRightTriggerAxis()), basePilotable)
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);
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be created by
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* instantiating a {@link GenericHID} or one of its subclasses ({@link
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* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
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* edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
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buttonA.whileHeld(Activer_poussoir);
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JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
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rightbumper.whileHeld(Pistonshaker);
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JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
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buttonY.whenPressed(DesactiverBlockeur, ActiverBlockeur);
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// An ExampleCommand will run in autonomous
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return new SequentialCommandGroup(
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new Reculer(basePilotable).withTimeout(SmartDashboard.getNumber("temps reculer", 1)),
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new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche1",1)),
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new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avencer1",1)),
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new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite1",1)),
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new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer2",1)),
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new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche2",1)),
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new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer3",1)),
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new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite 2",1)),
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new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer4",1)),
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new DesactiverBlockeur(poussoir).withTimeout(SmartDashboard.getNumber("temps du b1",0.8)),
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new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser1",1)),
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new Activershaker(pistonshaker).withTimeout(SmartDashboard.getNumber("temps du b2",1)),
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new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser2",1)));
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}
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}
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