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mettre des choses dans le dashboard(ca marche)

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This commit is contained in:
Olivier Dubois
2023-12-05 19:09:54 -05:00
parent 838eab55e6
commit c214822ac6
5 changed files with 38 additions and 10 deletions
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22
src/main/java/frc/robot/subsystems/Drive.java
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@@ -7,14 +7,28 @@ package frc.robot.subsystems;
import java.io.File;
import java.io.IOException;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import swervelib.SwerveDrive;
import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
.getLayout("Avancer", BuiltInLayouts.kList)
.withSize(1, 4)
.withPosition(4, 0);
ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
.getLayout("Reculer", BuiltInLayouts.kList)
.withSize(1, 4)
.withPosition(3,0);
SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
@@ -25,6 +39,14 @@ public class Drive extends SubsystemBase {
/** Creates a new Drive. */
public Drive() {
reculer.add("vitesse x", 1);
reculer.add("vitesse y", 2);
reculer.add("vitesse z", 3);
reculer.add("distance", 4);
avancer.add("vitesse x", 1);
avancer.add("vitesse y", 2);
avancer.add("vitesse z", 3);
avancer.add("distance", 4);
try {
this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
} catch (IOException e) {