53 lines
2.0 KiB
Java
53 lines
2.0 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.math.MathUtil;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import frc.robot.Commands.Desaccumuler;
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import frc.robot.Commands.FollowAprilTag;
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import frc.robot.Commands.Lancer;
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import frc.robot.Subsystems.Accumulateur;
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import frc.robot.Subsystems.Drive;
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import frc.robot.Subsystems.Lanceur;
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import frc.robot.Subsystems.Limelight3G;
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public class RobotContainer {
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Lanceur lanceur= new Lanceur();
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Accumulateur accumulateur = new Accumulateur();
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Limelight3G limelight3G = new Limelight3G();
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Drive drive = new Drive();
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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CommandXboxController manette = new CommandXboxController(0);
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public RobotContainer() {
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dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
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.withSize(3,4)
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.withPosition(0,0);
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dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
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.withSize(3,4)
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.withPosition(3,0);
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configureBindings();
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drive.setDefaultCommand(new RunCommand(()->{
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drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
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},drive));
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}
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private void configureBindings() {
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manette.x().whileTrue(new Lancer(lanceur));
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manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
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manette.a().whileTrue(new Desaccumuler(accumulateur));
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}
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public Command getAutonomousCommand() {
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return Commands.print("No autonomous command configured");
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}
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}
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