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base: PLS5618:437bf1650530c33ddc944727638b0519ae6f4a0e
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PLS5618:Lanceur
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compare: PLS5618:a11b463cc2f04a88d7d81c21df6ac00488758540
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PLS5618:Lanceur

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src/main/java/frc/robot/RobotContainer.java
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@ -4,16 +4,10 @@
package frc.robot; package frc.robot;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; 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.Accumulateur;
import frc.robot.Subsystems.Drive; import frc.robot.Subsystems.Drive;
import frc.robot.Subsystems.Lanceur; import frc.robot.Subsystems.Lanceur;
@ -25,7 +19,6 @@ public class RobotContainer {
Limelight3G limelight3G = new Limelight3G(); Limelight3G limelight3G = new Limelight3G();
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() {
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800") dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4) .withSize(3,4)
@ -34,17 +27,10 @@ public class RobotContainer {
.withSize(3,4) .withSize(3,4)
.withPosition(3,0); .withPosition(3,0);
configureBindings(); 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() { public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured"); return Commands.print("No autonomous command configured");
} }