PLS5618/robot-2023
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This commit is contained in:
samuel desharnais 2023-03-20 18:00:49 -04:00
parent 2feccacf6c
commit 1da5d821c3
1 changed files with 16 additions and 20 deletions
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36
src/main/java/frc/robot/RobotContainer.java
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@ -65,9 +65,9 @@ ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",Buil
.withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",-66).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer",-35).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
// subsystems
BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte();
@ -93,9 +93,9 @@ Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0))
Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
Cube cube = new Cube(limelight, basePilotable, ()-> manette1.getLeftY());
Apriltag aprilTag = new Apriltag(limelight, basePilotable,()-> manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, ()-> manette1.getLeftY());
Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, null);
PivotManuel pivotManuel = new PivotManuel(pivot,manette2::getLeftX);
BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
@ -126,10 +126,9 @@ public RobotContainer() {
private void configureBindings() {
// manette 1
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().onTrue(brakeOuvre);
manette1.b().onTrue(brakeFerme);
manette1.leftBumper().whileTrue(aprilTag);
manette1.rightBumper().whileTrue(tape);
manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.rightBumper().toggleOnTrue(tape);
manette1.povUp().whileTrue(pivoteBrasHaut);
manette1.povDown().whileTrue(pivoteBrasBas);
manette1.povRight().whileTrue(pivoteBrasMilieux);
@ -137,18 +136,19 @@ public RobotContainer() {
//manette 2
manette2.povDown().onTrue(pivotChercheBas);
manette2.povUp().onTrue(pivotChercheHaut);
manette2.rightBumper().whileTrue(cube);
manette2.leftBumper().whileTrue(cone);
manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone);
manette2.y().whileTrue(gyro);
manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
manette2.a().whileTrue(gratteMonte);
manette2.b().whileTrue(gratteBaisser);
manette2.back().onTrue(new InstantCommand(basePilotable::Reset));
}
public Command getAutonomousCommand() {
return Commands.waitSeconds(14).deadlineWith( new SequentialCommandGroup(
chooser.getSelected();
autobalance.getBoolean(true);
return new SequentialCommandGroup(
Commands.select(Map.ofEntries(
Map.entry(enhaut,pivoteBrasHaut),
Map.entry(aumilieux,pivoteBrasMilieux),
@ -156,14 +156,10 @@ public RobotContainer() {
Map.entry(nulpart,pivotBrasRentre)
), chooser::getSelected),
ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1),
fermePince.unless(()->chooser.getSelected().equals(nulpart)),
new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1),
Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
avancer.unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
)).andThen(new InstantCommand(basePilotable::BrakeOuvre,basePilotable));
).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
}