PLS5618/robot-2023
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This commit is contained in:
Antoine PerreaultE 2023-02-15 18:27:48 -05:00
parent 0756345494
commit 4d81dd9f9b
3 changed files with 5 additions and 1 deletions
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bin/main/frc/robot/subsystems/BasePilotable.class
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src/main/java/frc/robot/RobotContainer.java
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@ -7,6 +7,7 @@ package frc.robot;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
//subsystems //subsystems
import frc.robot.subsystems.BasePilotable; import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Gratte; import frc.robot.subsystems.Gratte;
@ -52,6 +53,9 @@ PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
public RobotContainer() { public RobotContainer() {
configureBindings(); configureBindings();
basePilotable.setDefaultCommand(brakeOuvre);
new RunCommand(basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable), null));
} }
private void configureBindings() {} private void configureBindings() {}

2
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
return gyroscope.getPitch(); return gyroscope.getPitch();
} }
public void drive(double xSpeed, double zRotation, int i){ public void drive(double xSpeed, double zRotation, double d){
drive.arcadeDrive(xSpeed, zRotation); drive.arcadeDrive(xSpeed, zRotation);
} }
public double distance(){ public double distance(){