PLS5618/pratique-2025
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samuel desharnais
2024-11-25 19:30:22 -05:00
parent 876cf655f1
commit d64509b3aa
1 changed files with 9 additions and 9 deletions
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18
src/main/java/frc/robot/RobotContainer.java
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@@ -4,8 +4,8 @@
package frc.robot; package frc.robot;
import com.pathplanner.lib.auto.AutoBuilder; //import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands; //import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -24,7 +24,7 @@ import frc.robot.Subsystems.Lanceur;
import frc.robot.Subsystems.Limelight3G; import frc.robot.Subsystems.Limelight3G;
public class RobotContainer { public class RobotContainer {
private final SendableChooser<Command> autoChooser; // private final SendableChooser<Command> autoChooser;
Lanceur lanceur= new Lanceur(); Lanceur lanceur= new Lanceur();
Accumulateur accumulateur = new Accumulateur(); Accumulateur accumulateur = new Accumulateur();
Limelight3G limelight3G = new Limelight3G(); Limelight3G limelight3G = new Limelight3G();
@@ -32,8 +32,8 @@ public class RobotContainer {
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
CommandXboxController manette = new CommandXboxController(0); CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() { public RobotContainer() {
NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur)); // NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
autoChooser = AutoBuilder.buildAutoChooser(); // autoChooser = AutoBuilder.buildAutoChooser();
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800") dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(4,3) .withSize(4,3)
.withPosition(0,0); .withPosition(0,0);
@@ -44,9 +44,9 @@ public class RobotContainer {
drive.setDefaultCommand(new RunCommand(()->{ 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.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
},drive)); },drive));
dashboard.add("autochooser",autoChooser) // dashboard.add("autochooser",autoChooser)
.withSize(1,1) // .withSize(1,1)
.withPosition(6,0); // .withPosition(6,0);
} }
private void configureBindings() { private void configureBindings() {
@@ -57,6 +57,6 @@ public class RobotContainer {
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return autoChooser.getSelected(); return null;
} }
} }