109 lines
4.5 KiB
Java
109 lines
4.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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//import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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//subsystems
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import frc.robot.subsystems.BasePilotable;
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import frc.robot.subsystems.Gratte;
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import frc.robot.subsystems.bras.BrasTelescopique;
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import frc.robot.subsystems.bras.Pince;
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import frc.robot.subsystems.bras.Pivot;
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import frc.robot.subsystems.Limelight;
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import frc.robot.commands.Apriltag;
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// command
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import frc.robot.commands.BrakeFerme;
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import frc.robot.commands.BrakeOuvre;
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import frc.robot.commands.Cone;
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import frc.robot.commands.GratteBaisser;
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import frc.robot.commands.GratteMonte;
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import frc.robot.commands.Gyro;
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import frc.robot.commands.Reculer;
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import frc.robot.commands.bras.FermePince;
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import frc.robot.commands.bras.OuvrePince;
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import frc.robot.commands.bras.PivotBrasRentre;
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import frc.robot.commands.bras.PivoteBrasBas;
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import frc.robot.commands.bras.PivoteBrasHaut;
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import frc.robot.commands.bras.PivoteBrasMilieux;
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import frc.robot.commands.bras.PivotChercheBas;
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import frc.robot.commands.bras.PivotChercheHaut;
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import frc.robot.commands.Cube;
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import frc.robot.commands.Tape;
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public class RobotContainer {
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//CameraServer.startAutomaticCapture();
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CommandXboxController manette1 = new CommandXboxController(0);
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CommandXboxController manette2 = new CommandXboxController(1);
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// subsystems
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BasePilotable basePilotable = new BasePilotable();
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Gratte gratte = new Gratte();
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BrasTelescopique brasTelescopique = new BrasTelescopique();
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Pince pince = new Pince();
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Pivot pivot = new Pivot();
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Limelight limelight = new Limelight();
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//commands
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BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
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BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
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GratteBaisser gratteBaisser = new GratteBaisser(gratte);
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GratteMonte gratteMonte = new GratteMonte(gratte);
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Gyro gyro = new Gyro(basePilotable);
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FermePince fermePince = new FermePince(pince);
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OuvrePince ouvrePince = new OuvrePince(pince);
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PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
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PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
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PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
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PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
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Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
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PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
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PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
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Cube cube = new Cube(limelight, basePilotable, null);
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Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
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Tape tape = new Tape(limelight, basePilotable, null);
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public RobotContainer() {
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configureBindings();
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basePilotable.setDefaultCommand(new RunCommand(() -> {
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basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
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},basePilotable));
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}
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private void configureBindings() {
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// manette 1
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manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
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manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
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manette1.y().whileTrue(gyro);
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manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
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manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
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manette1.leftBumper().toggleOnTrue(aprilTag);
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manette1.rightBumper().toggleOnTrue(tape);
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// manette 2
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manette2.a().onTrue(pivoteBrasHaut);
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manette2.b().onTrue(pivoteBrasBas);
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manette2.x().onTrue(pivoteBrasMilieux);
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manette2.y().onTrue(pivotBrasRentre);
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manette2.povRight().onTrue(pivotChercheBas);
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manette2.povLeft().onTrue(pivotChercheHaut);
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manette2.rightBumper().toggleOnTrue(cube);
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manette2.leftBumper().toggleOnTrue(cone);
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}
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public Command getAutonomousCommand() {
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return new SequentialCommandGroup(
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new PivoteBrasMilieux(brasTelescopique, pivot),
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new OuvrePince(pince),
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new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
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new Gyro(basePilotable)
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);
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}
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}
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