PLS5618/betabot-2024
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This commit is contained in:
samuel desharnais 2024-01-10 20:01:12 -05:00
parent 0f6021bcd6
commit 6c9a52775b
2 changed files with 2 additions and 3 deletions
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3
src/main/java/frc/robot/RobotContainer.java
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@ -101,8 +101,7 @@ String avancerautoString = "gauche";
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
chooser.getSelected(); chooser.getSelected();
return new SequentialCommandGroup(new ParallelCommandGroup(new LanceurAuto(lanceur).withTimeout(6) return new ParallelCommandGroup( Commands.waitSeconds(6),
,new AccAuto(accumulateur).withTimeout(6)), Commands.waitSeconds(6),
Commands.select(Map.ofEntries( Commands.select(Map.ofEntries(
Map.entry(avancerautoString,avancer), Map.entry(avancerautoString,avancer),
Map.entry(avancergaucheString, avancerGauche) Map.entry(avancergaucheString, avancerGauche)

2
src/main/java/frc/robot/subsystems/Drive.java
View File

@ -39,7 +39,7 @@ public class Drive extends SubsystemBase {
final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle); final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle);
final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */ final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
public void drive(double x, double y, double zRotation){ public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x*4, y*4), zRotation, true, false); swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);
} }