PLS5618/pratique-2025
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This commit is contained in:
samuel desharnais 2024-11-04 18:38:50 -05:00
parent 954c82a7a0
commit c22c507da0
1 changed files with 16 additions and 2 deletions
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18
src/main/java/frc/robot/RobotContainer.java
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@ -4,10 +4,16 @@
package frc.robot;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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.Lanceur;
@ -19,6 +25,7 @@ public class RobotContainer {
Limelight3G limelight3G = new Limelight3G();
Drive drive = new Drive();
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() {
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4)
@ -27,9 +34,16 @@ public class RobotContainer {
.withSize(3,4)
.withPosition(3,0);
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));
}
private void configureBindings() {
Lancer lancer= new Lancer(lanceur);
Desaccumuler desaccumuler = new Desaccumuler(accumulateur);
FollowAprilTag aprilTag = new FollowAprilTag(limelight3G, lanceur);
}
private void configureBindings() {}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");