PLS5618/robot-2023
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This commit is contained in:
EdwardFaucher 2023-03-11 10:01:21 -05:00
parent d4fc0d5497
commit 77b39f47a4
2 changed files with 14 additions and 15 deletions
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11
src/main/java/frc/robot/Constants.java
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@ -9,17 +9,12 @@ public class Constants {
public static int pivot = 6; public static int pivot = 6;
//moteur //moteur
<<<<<<< HEAD
public static int leverGratte = 7;
public static int baiserGratte = 8; public static int baiserGratte = 8;
=======
public static int leverGratte = 0; public static int leverGratte = 0;
public static int baiserGratte = 1;
<<<<<<< HEAD
public static int baisserGratte = 2; public static int baisserGratte = 2;
=======
>>>>>>> 23806ebfa2db43d63673f9b4cfc37aa3b9b23491
>>>>>>> feb8cc033e5eefa2d6b104c4ab7de16e0527fc5f
// pneumatique // pneumatique
public static int pistonpinceouvre = 0; public static int pistonpinceouvre = 0;

18
src/main/java/frc/robot/RobotContainer.java
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@ -31,18 +31,23 @@ import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince; import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot; import frc.robot.subsystems.bras.Pivot;
import frc.robot.subsystems.Limelight; import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
import frc.robot.commands.Avancer; import frc.robot.commands.Avancer;
// command // command
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.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
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;
@ -93,8 +98,8 @@ PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot
Cube cube = new Cube(limelight, basePilotable, null); Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable, null); Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, null); Tape tape = new Tape(limelight, basePilotable, null);
ShuffleboardTab teb = Shuffleboard.getTab("teb");
Reculer reculer = new Reculer(basePilotable);
public RobotContainer() { public RobotContainer() {
chooser.setDefaultOption(enhaut, enhaut); chooser.setDefaultOption(enhaut, enhaut);
@ -106,11 +111,10 @@ public RobotContainer() {
configureBindings(); configureBindings();
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
teb.add (CameraServer.startAutomaticCapture(null, 0)); basePilotable.setDefaultCommand(new RunCommand(() -> {
basePilotable.setDefaultCommand(new RunCommand() -> { basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0); }));
} }
}
private void configureBindings() { private void configureBindings() {
// manette 1 // manette 1
manette1.povDown().onTrue(pivoteBrasHaut); manette1.povDown().onTrue(pivoteBrasHaut);