PLS5618/robot-2023
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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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This commit is contained in:
Antoine PerreaultE 2023-03-20 18:54:35 -04:00
commit 58e6f51a22
1 changed files with 12 additions and 11 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -88,8 +88,8 @@ public class RobotContainer {
Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY()); Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY()); Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY()); Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getRightY); PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftX); BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
public RobotContainer() { public RobotContainer() {
chooser.addOption(enhaut, enhaut); chooser.addOption(enhaut, enhaut);
@ -110,18 +110,19 @@ public class RobotContainer {
// manette 1 // manette 1
//y lumiere limelight, manuel 2e joystik, //y lumiere limelight, manuel 2e joystik,
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.x().onTrue(brakeOuvre);
manette1.leftBumper().toggleOnTrue(aprilTag); manette1.b().onTrue(brakeFerme);
manette1.rightBumper().toggleOnTrue(tape); manette1.leftBumper().whileTrue(aprilTag);
manette1.rightBumper().whileTrue(tape);
manette1.povUp().whileTrue(creerCommandBras(51, -40)); manette1.povUp().whileTrue(creerCommandBras(51, -40));
manette1.povDown().whileTrue(creerCommandBras(0, 0)); manette1.povDown().whileTrue(creerCommandBras(9, -14));
manette1.povRight().whileTrue(creerCommandBras(0, 0)); manette1.povRight().whileTrue(creerCommandBras(44, -17));
manette1.povLeft().whileTrue(creerCommandBras(0, 0)); manette1.povLeft().whileTrue(creerCommandBras(0, 0));
//manette 2 //manette 2
manette2.povDown().onTrue(pivotChercheBas); manette2.povDown().whileTrue(creerCommandBras(9, -18));
manette2.povUp().onTrue(pivotChercheHaut); manette2.povUp().whileTrue(creerCommandBras(44, 0));
manette2.rightBumper().toggleOnTrue(cube); manette2.rightBumper().whileTrue(cube);
manette2.leftBumper().toggleOnTrue(cone); manette2.leftBumper().whileTrue(cone);
manette2.y().whileTrue(gyro); manette2.y().whileTrue(gyro);
manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro)); manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
manette2.a().whileTrue(gratteMonte); manette2.a().whileTrue(gratteMonte);