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

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// 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;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
<<<<<<< HEAD
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
=======
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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 edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
>>>>>>> 856a2295bef699955297a016b8d5ddd1d8bd68d8
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//subsystems
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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;
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import frc.robot.subsystems.Limelight;
// command
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import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
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import frc.robot.commands.Reculer;
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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;
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public class RobotContainer {
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CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
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// 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);
public RobotContainer() {
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configureBindings();
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basePilotable.setDefaultCommand(new RunCommand(() -> {
basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
},basePilotable));
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}
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private void configureBindings() {
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
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}
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public Command getAutonomousCommand() {
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return new SequentialCommandGroup(
new PivoteBrasMilieux(brasTelescopique, pivot),
new OuvrePince(pince),
new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
new Gyro(basePilotable)
);
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}
}