118 lines
4.6 KiB
Java
118 lines
4.6 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 java.util.Map;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.math.MathUtil;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import frc.robot.commands.AccAuto;
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import frc.robot.commands.Avancer;
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import frc.robot.commands.Force1;
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//import frc.robot.commands.Lancer;
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import frc.robot.commands.Force2;
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import frc.robot.commands.Force3;
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import frc.robot.commands.Force4;
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import frc.robot.commands.Force5;
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import frc.robot.commands.Force6;
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import frc.robot.commands.Force7;
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import frc.robot.commands.LanceurAuto;
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import frc.robot.commands.AvancerGauche;
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import frc.robot.commands.accumulateurtest;
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import frc.robot.subsystems.Accumulateur;
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import frc.robot.subsystems.Drive;
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import frc.robot.subsystems.Lanceur;
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import frc.robot.subsystems.limelight;
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import frc.robot.commands.AprilTag;
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public class RobotContainer {
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String avancergaucheString = "droite";
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String avancerautoString = "gauche";
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ShuffleboardLayout layoutauto = Shuffleboard.getTab("Dashboard").getLayout("auto", BuiltInLayouts.kList);
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SendableChooser<String> chooser = new SendableChooser<>();
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limelight limelight = new limelight();
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Lanceur lanceur = new Lanceur();
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Accumulateur accumulateur = new Accumulateur();
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Drive drive = new Drive();
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Avancer avancer = new Avancer(drive);
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AvancerGauche avancerGauche = new AvancerGauche(drive);
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ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
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ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
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.getLayout("forces", BuiltInLayouts.kList)
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.withSize(1, 7)
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.withPosition(1, 0);
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GenericEntry force1 = forces.add("Force1", 2).getEntry();
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GenericEntry force2 = forces.add("Force2", 4).getEntry();
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GenericEntry force3 = forces.add("Force3", 6).getEntry();
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GenericEntry force4 = forces.add("Force4", 8).getEntry();
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GenericEntry force5 = forces.add("Force5", 10).getEntry();
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GenericEntry force6 = forces.add("Force6", 12).getEntry();
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GenericEntry force7 = forces.add("Force7", 14).getEntry();
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CommandXboxController manette = new CommandXboxController(0);
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CommandJoystick joystick1 = new CommandJoystick(0);
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public RobotContainer() {
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CameraServer.startAutomaticCapture();
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configureBindings();
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drive.setDefaultCommand(new RunCommand(()->{
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drive.drive(-MathUtil.applyDeadband(joystick1.getY(),0.2), MathUtil.applyDeadband(-joystick1.getX(),0.2), MathUtil.applyDeadband(-joystick1.getZ(), 0.2));
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},drive));
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}
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private void configureBindings() {
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chooser.addOption(avancerautoString, avancerautoString);
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chooser.addOption(avancergaucheString, avancergaucheString);
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layoutauto.add("choix hauteur", chooser);
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accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
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AprilTag aprilTag = new AprilTag(limelight, lanceur);
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Force1 Force1 = new Force1(lanceur, force1);
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Force2 Force2 = new Force2(lanceur, force2);
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Force3 Force3 = new Force3(lanceur, force3);
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Force4 Force4 = new Force4(lanceur, force4);
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Force5 Force5 = new Force5(lanceur, force5);
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Force6 Force6 = new Force6(lanceur, force6);
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Force7 Force7 = new Force7(lanceur, force7);
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//touche
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joystick1.button(2).whileTrue(aprilTag);
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joystick1.button(3).whileTrue(accumulateurtest);
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joystick1.button(1).whileTrue(Force1);
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joystick1.button(7).whileTrue(Force2);
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joystick1.button(8).whileTrue(Force3);
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joystick1.button(9).whileTrue(Force4);
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joystick1.button(10).whileTrue(Force5);
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joystick1.button(11).whileTrue(Force6);
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joystick1.button(12).whileTrue(Force7);
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}
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public Command getAutonomousCommand() {
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chooser.getSelected();
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return new ParallelCommandGroup( Commands.waitSeconds(6),
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Commands.select(Map.ofEntries(
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Map.entry(avancerautoString,avancer),
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Map.entry(avancergaucheString, avancerGauche)
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), chooser::getSelected)
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);
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}
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}
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