PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois 2023-03-13 18:35:35 -04:00
parent feb8cc033e
commit 248d3fc93a
1 changed files with 8 additions and 5 deletions
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13
src/main/java/frc/robot/RobotContainer.java
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@ -25,17 +25,22 @@ import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince; import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot; import frc.robot.subsystems.bras.Pivot;
import frc.robot.subsystems.Limelight; import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
// command // command
import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre; import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.Cone; import frc.robot.commands.Cone;
import frc.robot.commands.Cube;
import frc.robot.commands.GratteBaisser; import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte; import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro; import frc.robot.commands.Gyro;
import frc.robot.commands.Reculer; import frc.robot.commands.Reculer;
import frc.robot.commands.Tape;
import frc.robot.commands.bras.FermePince; import frc.robot.commands.bras.FermePince;
import frc.robot.commands.bras.OuvrePince; import frc.robot.commands.bras.OuvrePince;
import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux; import frc.robot.commands.bras.PivoteBrasMilieux;
@ -87,14 +92,12 @@ public RobotContainer() {
chooser.addOption(aumilieux, aumilieux); chooser.addOption(aumilieux, aumilieux);
chooser.addOption(nulpart, nulpart); chooser.addOption(nulpart, nulpart);
layoutauto.add("choix hauteur",chooser); layoutauto.add("choix hauteur",chooser);
configureBindings(); configureBindings();
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
teb.add (CameraServer.startAutomaticCapture(null, 0)); teb.add (CameraServer.startAutomaticCapture(null, 0));
basePilotable.setDefaultCommand(new RunCommand() -> { basePilotable.setDefaultCommand(new RunCommand()->
basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0); basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0));
}
} }
private void configureBindings() { private void configureBindings() {
// manette 1 // manette 1