PLS5618/robot-2023
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EdwardFaucher 2023-03-11 10:14:18 -05:00
parent 77b39f47a4
commit de5b5213cb
1 changed files with 25 additions and 25 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -3,34 +3,21 @@
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot; package frc.robot;
import org.photonvision.estimation.CameraTargetRelation; import java.util.Map;
import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cameraserver.CameraServer;
<<<<<<< HEAD
import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
=======
>>>>>>> feb8cc033e5eefa2d6b104c4ab7de16e0527fc5f
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import java.util.Map;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
//subsystems
import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Gratte;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag; import frc.robot.commands.Apriltag;
import frc.robot.commands.Avancer; import frc.robot.commands.Avancer;
// command // command
@ -51,6 +38,13 @@ 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;
//subsystems
import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Gratte;
import frc.robot.subsystems.Limelight;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
public class RobotContainer { public class RobotContainer {
@ -117,16 +111,22 @@ public RobotContainer() {
} }
private void configureBindings() { private void configureBindings() {
// manette 1 // manette 1
manette1.povDown().onTrue(pivoteBrasHaut);
manette1.povUp().onTrue(pivoteBrasBas);
manette1.povLeft().onTrue(pivoteBrasMilieux);
manette1.povRight().onTrue(pivotBrasRentre);
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.leftBumper().toggleOnTrue(aprilTag);
manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); manette1.rightBumper().toggleOnTrue(tape);
manette1.povUp().onTrue(pivoteBrasHaut);
manette1.povDown().onTrue(pivoteBrasBas);
manette1.povRight().onTrue(pivoteBrasMilieux);
manette1.povLeft().onTrue(pivotBrasRentre);
//manette 2
manette2.povRight().onTrue(pivotChercheBas);
manette2.povLeft().onTrue(pivotChercheHaut);
manette2.rightBumper().toggleOnTrue(cube);
manette2.leftBumper().toggleOnTrue(cone);
manette2.y().whileTrue(gyro);
manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
manette2.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
@ -143,7 +143,7 @@ public RobotContainer() {
Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)), Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)), avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)) Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
); ).deadlineWith(Commands.waitSeconds(14)).andThen(brakeOuvre);
} }