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samuel desharnais 2024-12-17 16:41:45 -05:00
parent 57af33dfed
commit 81aefe3d56
1 changed files with 6 additions and 17 deletions
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23
src/main/java/frc/robot/RobotContainer.java
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@ -34,6 +34,7 @@ import frc.robot.generated.TunerConstants;
//import com.pathplanner.lib.auto.AutoBuilder; //import com.pathplanner.lib.auto.AutoBuilder;
//import com.pathplanner.lib.auto.NamedCommands; //import com.pathplanner.lib.auto.NamedCommands;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette = new CommandXboxController(0);
private double MaxSpeed = TunerConstants.kSpeedAt12VoltsMps; // kSpeedAt12VoltsMps desired top speed private double MaxSpeed = TunerConstants.kSpeedAt12VoltsMps; // kSpeedAt12VoltsMps desired top speed
private double MaxAngularRate = 1.5 * Math.PI; // 3/4 of a rotation per second max angular velocity private double MaxAngularRate = 1.5 * Math.PI; // 3/4 of a rotation per second max angular velocity
@ -44,19 +45,17 @@ public class RobotContainer {
.withDeadband(MaxSpeed * 0.15).withRotationalDeadband(MaxAngularRate * 0.15) // Add a 10% deadband .withDeadband(MaxSpeed * 0.15).withRotationalDeadband(MaxAngularRate * 0.15) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
// driving in open loop // driving in open loop
private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt(); private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
private final Telemetry logger = new Telemetry(MaxSpeed); private final Telemetry logger = new Telemetry(MaxSpeed);
private void configureBindings() { private void configureBindings() {
drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drive.withVelocityX(-manette.getLeftY() * MaxSpeed*0.25) // Drive forward with drivetrain.applyRequest(() -> drive.withVelocityX(-manette.getLeftY() * MaxSpeed) // Drive forward with
// negative Y (forward) // negative Y (forward)
.withVelocityY(-manette.getLeftX() * MaxSpeed*0.25) // Drive left with negative X (left) .withVelocityY(-manette.getLeftX() * MaxSpeed) // Drive left with negative X (left)
.withRotationalRate(-manette.getRightX() * MaxAngularRate*0.25) // Drive counterclockwise with negative X (left) .withRotationalRate(-manette.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
)); ));
manette.a().whileTrue(drivetrain.applyRequest(() -> brake));
manette.b().whileTrue(drivetrain manette.b().whileTrue(drivetrain
.applyRequest(() -> point.withModuleDirection(new Rotation2d(-manette.getLeftY(), -manette.getLeftX())))); .applyRequest(() -> point.withModuleDirection(new Rotation2d(-manette.getLeftY(), -manette.getLeftX()))));
@ -76,7 +75,7 @@ public class RobotContainer {
LED led = new LED(); LED led = new LED();
//Drive drive = new Drive(); //Drive drive = new Drive();
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() { public RobotContainer() {
//NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur)); //NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
//NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur)); //NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
@ -87,18 +86,8 @@ public class RobotContainer {
dashboard.addCamera("limelight3", "limelight3","limelight.local:5800") dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
.withSize(3,4) .withSize(3,4)
.withPosition(2,0); .withPosition(2,0);
final double MaxSpeed = TunerConstants.kSpeedAt12VoltsMps; // kSpeedAt12VoltsMps desired top speed
final double MaxAngularRate = 1.5 * Math.PI; // 3/4 of a rotation per second max angular velocity
/* Setting up bindings for necessary control of the swerve drive platform */ // My joystick
//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);
manette.x().whileTrue(new Lancer(lanceur,accumulateur)); manette.x().whileTrue(new Lancer(lanceur,accumulateur));
manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur)); manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
manette.a().whileTrue(new Desaccumuler(accumulateur)); manette.a().whileTrue(new Desaccumuler(accumulateur));