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:
samuel desharnais 2023-02-20 20:05:58 -05:00
commit 6405e1b883
1 changed files with 1 additions and 9 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -4,7 +4,6 @@
package frc.robot; package frc.robot;
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.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -23,19 +22,16 @@ import frc.robot.subsystems.Limelight;
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.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;
import frc.robot.commands.Apriltag;
public class RobotContainer { public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette1 = new CommandXboxController(0);
@ -60,9 +56,6 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot); PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot); PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY()); Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
Cube cube = new Cube(limelight, basePilotable, ()->-manette1.getLeftY());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, ()->-manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, ()->-manette1.getLeftY());
public RobotContainer() { public RobotContainer() {
configureBindings(); configureBindings();
@ -76,9 +69,8 @@ public RobotContainer() {
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().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
manette1.y().whileTrue(gyro); manette1.y().whileTrue(gyro);
manette1.b().toggleOnTrue(Commands.startEnd()); manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {