From e7be2d6428bf688f7ece7ef98b8ce10aeecfcc45 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 4 Nov 2024 18:52:16 -0500 Subject: [PATCH] touche --- src/main/java/frc/robot/RobotContainer.java | 3 +++ src/main/java/frc/robot/Subsystems/Lanceur.java | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5909e38..47d0d47 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -43,6 +43,9 @@ public class RobotContainer { Lancer lancer= new Lancer(lanceur); Desaccumuler desaccumuler = new Desaccumuler(accumulateur); FollowAprilTag aprilTag = new FollowAprilTag(limelight3G, lanceur); + manette.x().whileTrue(new Lancer(lanceur)); + manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur)); + manette.a().whileTrue(new Desaccumuler(accumulateur)); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java index 9d58767..7b14e92 100644 --- a/src/main/java/frc/robot/Subsystems/Lanceur.java +++ b/src/main/java/frc/robot/Subsystems/Lanceur.java @@ -47,7 +47,7 @@ public class Lanceur extends SubsystemBase { public void lance(double vitesse){ lanceur1.set(vitesse);lanceur2.set(vitesse); } - public void lance(){ + public void lance(){ lance(vitesse.getDouble(0.2)); } public void tourelRotation(double x, double y, double rotation){