PLS5618/robot-2023
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This commit is contained in:
EdwardFaucher 2023-03-20 18:49:15 -04:00
parent 48af7fa922
commit 627b365cda
1 changed files with 16 additions and 16 deletions
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32
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());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getRightY);
BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftX);
PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
public RobotContainer() {
chooser.addOption(enhaut, enhaut);
@ -108,20 +108,20 @@ public class RobotContainer {
private void configureBindings() {
// manette 1
//y lumiere limelight, manuel 2e joystik,
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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);
manette1.povLeft().whileTrue(pivotBrasRentre);
//manette 2
manette2.povDown().onTrue(pivotChercheBas);
manette2.povUp().onTrue(pivotChercheHaut);
manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone);
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.povUp().whileTrue(creerCommandBras(51, -40));
manette1.povDown().whileTrue(creerCommandBras(9, -14));
manette1.povRight().whileTrue(creerCommandBras(44, -17));
manette1.povLeft().whileTrue(creerCommandBras(0, 0));
// manette 2
manette2.povDown().onTrue(creerCommandBras(9, -18));
manette2.povUp().onTrue(creerCommandBras(44, 0));
manette2.rightBumper().whileTrue(cube);
manette2.leftBumper().whileTrue(cone);
manette2.y().whileTrue(gyro);
manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
manette2.a().whileTrue(gratteMonte);