robot-2023/src/main/java/frc/robot/RobotContainer.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

//subsystems
import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Gratte;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import pabeles.concurrency.ConcurrencyOps.Reset;
import frc.robot.subsystems.Limelight;
// command
import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.Cone;
import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
import frc.robot.commands.Reculer;
import frc.robot.commands.bras.FermePince;
import frc.robot.commands.bras.OuvrePince;
import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux;
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import edu.wpi.first.apriltag.AprilTag;
import frc.robot.commands.Cube;
import frc.robot.commands.Cone;
import frc.robot.commands.Tape;

public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
// subsystems
BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte();
BrasTelescopique brasTelescopique = new BrasTelescopique();
Pince pince = new Pince();
Pivot pivot = new Pivot();
Limelight limelight = new Limelight();
//commands
BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
GratteBaisser gratteBaisser = new GratteBaisser(gratte);
GratteMonte gratteMonte = new GratteMonte(gratte);
Gyro gyro = new Gyro(basePilotable);
FermePince fermePince = new FermePince(pince);
OuvrePince ouvrePince = new OuvrePince(pince);
PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
public RobotContainer() {
    configureBindings();

    basePilotable.setDefaultCommand(new RunCommand(() -> {
      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
    },basePilotable));
    
}

  private void configureBindings() {
    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
    manette1.y().whileTrue(gyro);
    manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
    manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
    manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
    manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
  }

  public Command getAutonomousCommand() {
    return new SequentialCommandGroup(
      new PivoteBrasMilieux(brasTelescopique, pivot),
      new OuvrePince(pince),
      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
      new Gyro(basePilotable)
    );
  }
}