gxb
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@ -88,8 +88,8 @@ public class RobotContainer {
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Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
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Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
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Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
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PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getRightY);
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BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftX);
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PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
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BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
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public RobotContainer() {
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chooser.addOption(enhaut, enhaut);
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@ -108,20 +108,20 @@ public class RobotContainer {
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private void configureBindings() {
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// manette 1
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//y lumiere limelight, manuel 2e joystik,
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer, pince));
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manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
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manette1.leftBumper().toggleOnTrue(aprilTag);
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manette1.rightBumper().toggleOnTrue(tape);
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manette1.povUp().whileTrue(pivoteBrasHaut);
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manette1.povDown().whileTrue(pivoteBrasBas);
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manette1.povRight().whileTrue(pivoteBrasMilieux);
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manette1.povLeft().whileTrue(pivotBrasRentre);
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manette1.x().onTrue(brakeOuvre);
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manette1.b().onTrue(brakeFerme);
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manette1.leftBumper().whileTrue(aprilTag);
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manette1.rightBumper().whileTrue(tape);
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manette1.povUp().whileTrue(creerCommandBras(51, -40));
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manette1.povDown().whileTrue(creerCommandBras(9, -14));
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manette1.povRight().whileTrue(creerCommandBras(44, -17));
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manette1.povLeft().whileTrue(creerCommandBras(0, 0));
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// manette 2
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manette2.povDown().onTrue(pivotChercheBas);
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manette2.povUp().onTrue(pivotChercheHaut);
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manette2.rightBumper().toggleOnTrue(cube);
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manette2.leftBumper().toggleOnTrue(cone);
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manette2.povDown().onTrue(creerCommandBras(9, -18));
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manette2.povUp().onTrue(creerCommandBras(44, 0));
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manette2.rightBumper().whileTrue(cube);
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manette2.leftBumper().whileTrue(cone);
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manette2.y().whileTrue(gyro);
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manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
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manette2.a().whileTrue(gratteMonte);
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