55 lines
2.0 KiB
Java
55 lines
2.0 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.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.XboxController;
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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 frc.robot.subsystems.BasePilotable;
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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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/** 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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/**
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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 null;
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}
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}
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