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This commit is contained in:
Olivier Dubois 2024-11-29 12:06:53 -05:00
parent be5abb84bd
commit 1cd730c588
2 changed files with 16 additions and 16 deletions
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28
src/main/java/frc/robot/RobotContainer.java
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@ -4,8 +4,8 @@
package frc.robot;
//import com.pathplanner.lib.auto.AutoBuilder;
//import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@ -18,21 +18,21 @@ import frc.robot.Commands.Desaccumuler;
import frc.robot.Commands.FollowAprilTag;
import frc.robot.Commands.Lancer;
import frc.robot.Subsystems.Accumulateur;
import frc.robot.Subsystems.Drive;
//import frc.robot.Subsystems.Drive;
import frc.robot.Subsystems.Lanceur;
import frc.robot.Subsystems.Limelight3G;
public class RobotContainer {
// private final SendableChooser<Command> autoChooser;
private final SendableChooser<Command> autoChooser;
Lanceur lanceur= new Lanceur();
Accumulateur accumulateur = new Accumulateur();
Limelight3G limelight3G = new Limelight3G();
Drive drive = new Drive();
//Drive drive = new Drive();
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() {
// NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
// autoChooser = AutoBuilder.buildAutoChooser();
NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
autoChooser = AutoBuilder.buildAutoChooser();
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4)
.withPosition(5,0);
@ -40,12 +40,12 @@ public class RobotContainer {
.withSize(3,4)
.withPosition(2,0);
configureBindings();
drive.setDefaultCommand(new RunCommand(()->{
drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
},drive));
// dashboard.add("autochooser",autoChooser)
// .withSize(1,1)
// .withPosition(8,0);
//drive.setDefaultCommand(new RunCommand(()->{
// drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
//},drive));
dashboard.add("autochooser",autoChooser)
.withSize(1,1)
.withPosition(8,0);
}
private void configureBindings() {
@ -56,6 +56,6 @@ public class RobotContainer {
}
public Command getAutonomousCommand() {
return null;
return autoChooser.getSelected();
}
}

4
src/main/java/frc/robot/Subsystems/Drive.java
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@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.Subsystems;
/*package frc.robot.Subsystems;
import java.io.File;
import java.io.IOException;
import com.ctre.phoenix6.hardware.Pigeon2;
@ -45,4 +45,4 @@ public class Drive extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
}
}
}*/