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
2023-02-15 19:36:03 -05:00
parent 8574a8e5bf 9536969fce
commit b20ba544a8
4 changed files with 9 additions and 3 deletions
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bin/main/frc/robot/subsystems/BasePilotable.class
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8
src/main/java/frc/robot/RobotContainer.java
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@@ -27,6 +27,7 @@ import frc.robot.commands.BrakeOuvre;
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.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;
@@ -77,6 +78,11 @@ public RobotContainer() {
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured"); return Commands.print("No autonomous command configured");
return new SequentialCommandGroup(
new PivoteBrasMilieux(brasTelescopique, pivot),
new OuvrePince(pince),
new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
new Gyro(basePilotable)
);
} }
} }

2
src/main/java/frc/robot/commands/Reculer.java
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@@ -26,7 +26,7 @@ public class Reculer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
basePilotable.drive(0.2, 0, 10, basePilotable); basePilotable.drive(0.2, 0, 0);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

2
src/main/java/frc/robot/subsystems/BasePilotable.java
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@@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
return gyroscope.getPitch(); return gyroscope.getPitch();
} }
public void drive(double xSpeed, double zRotation, double d, BasePilotable basePilotable){ public void drive(double xSpeed, double zRotation, double d){
drive.arcadeDrive(xSpeed, zRotation); drive.arcadeDrive(xSpeed, zRotation);
} }
public double distance(){ public double distance(){