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This commit is contained in:
Antoine PerreaultE 2023-12-05 19:17:47 -05:00
parent 92325aebca
commit 56d9774135
2 changed files with 5 additions and 4 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot; package frc.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
@ -32,8 +33,6 @@ public class RobotContainer {
Lanceur lanceur = new Lanceur(); Lanceur lanceur = new Lanceur();
Accumulateur accumulateur = new Accumulateur(); Accumulateur accumulateur = new Accumulateur();
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard") ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
.getLayout("forces", BuiltInLayouts.kList) .getLayout("forces", BuiltInLayouts.kList)
@ -50,7 +49,7 @@ public class RobotContainer {
CommandJoystick joystick1 = new CommandJoystick(0); CommandJoystick joystick1 = new CommandJoystick(0);
Drive drive = new Drive(); Drive drive = new Drive();
public RobotContainer() { public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings(); configureBindings();
drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{
drive.drive(-joystick1.getY(), -joystick1.getX(), MathUtil.applyDeadband(-joystick1.getZ(), 0.2)); drive.drive(-joystick1.getY(), -joystick1.getX(), MathUtil.applyDeadband(-joystick1.getZ(), 0.2));

4
src/main/java/frc/robot/subsystems/Drive.java
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@ -22,6 +22,7 @@ public class Drive extends SubsystemBase {
swerveDrive.drive(new Translation2d(x, y), zRotation, false, false); swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
} }
/** Creates a new Drive. */ /** Creates a new Drive. */
public Drive() { public Drive() {
@ -31,7 +32,8 @@ public class Drive extends SubsystemBase {
e.printStackTrace(); e.printStackTrace();
} }
} }
public SwerveModulePosition[] distance(){
public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions(); return swerveDrive.getModulePositions();
} }
@Override @Override