PLS5618/betabot-2024
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This commit is contained in:
samuel desharnais 2023-11-28 18:40:06 -05:00
parent 426d7e9885
commit 9a6c653c72
2 changed files with 23 additions and 10 deletions
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31
src/main/java/frc/robot/RobotContainer.java
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@ -12,10 +12,15 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.commands.Avancer;
import frc.robot.commands.Force1;
import frc.robot.commands.Force2;
import frc.robot.commands.Force3;
import frc.robot.commands.Force4;
import frc.robot.commands.Force5;
import frc.robot.commands.Force6;
import frc.robot.commands.Force7;
import frc.robot.commands.Reculer;
@ -26,9 +31,15 @@ import frc.robot.subsystems.Lanceur;
public class RobotContainer {
Lanceur lanceur = new Lanceur();
Accumulateur accumulateur = new Accumulateur();
Force7 Force7 = new Force7(lanceur, null, accumulateur);
Force1 Force1 = new Force1(lanceur, accumulateur, null);
Force2 Force2 = new Force2(lanceur, accumulateur, null);
Force3 Force3 = new Force3(lanceur, null, accumulateur);
Force4 Force4 = new Force4(lanceur, null, accumulateur);
Force5 Force5 = new Force5(lanceur, null, accumulateur);
Force6 Force6 = new Force6(lanceur, null, accumulateur);
Force7 Force7 = new Force7(lanceur, null, accumulateur);
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
@ -41,7 +52,7 @@ public class RobotContainer {
GenericEntry force6 = forces.add("Force6", 0).getEntry();
GenericEntry force7 = forces.add("Force7", 0).getEntry();
CommandXboxController manette = new CommandXboxController(0);
Joystick joystick1 = new Joystick(0);
CommandJoystick joystick1 = new CommandJoystick(0);
Drive drive = new Drive();
public RobotContainer() {
@ -52,15 +63,17 @@ public class RobotContainer {
}
private void configureBindings() {
JoystickButton button7 = new JoystickButton(joystick1, 7);
JoystickButton button8 = new JoystickButton(joystick1, 8);
JoystickButton button9 = new JoystickButton(joystick1, 9);
JoystickButton button10 = new JoystickButton(joystick1, 10);
JoystickButton button11 = new JoystickButton(joystick1, 11);
JoystickButton button12 = new JoystickButton(joystick1, 12);
joystick1.button(7).onTrue(Force1);
joystick1.button(8).onTrue(Force2);
joystick1.button(9).onTrue(Force3);
joystick1.button(10).onTrue(Force4);
joystick1.button(11).onTrue(Force5);
joystick1.button(12).onTrue(Force6);
joystick1.button(3).onTrue(Force7);
}
public Command getAutonomousCommand() {
return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
, new Force1(lanceur, accumulateur, force1), new Reculer(drive));

2
src/main/java/frc/robot/commands/Avancer.java
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@ -25,7 +25,7 @@ public class Avancer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
drive.drive(0.5, 0.2, 0);
drive.drive(0.5, 0.2, 0);
}
// Called once the command ends or is interrupted.