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debut robot container

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This commit is contained in:
Antoine PerreaultE 2024-01-23 18:41:48 -05:00
parent 1534e319fc
commit 08f1927225
1 changed files with 33 additions and 0 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -4,12 +4,45 @@
package frc.robot; package frc.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
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.RunCommand;
// Manette
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
// Subsystem
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse;
import frc.robot.subsystem.Drive;
import frc.robot.subsystem.Grimpeur;
import frc.robot.subsystem.Guideur;
import frc.robot.subsystem.Lanceur;
public class RobotContainer { public class RobotContainer {
Drive drive = new Drive();
Accumulateur accumulateur = new Accumulateur();
Balayeuse balayeuse = new Balayeuse();
Grimpeur grimpeur = new Grimpeur();
Guideur guideur = new Guideur();
Lanceur lanceur = new Lanceur();
CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1);
public RobotContainer() { public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings(); configureBindings();
drive.setDefaultCommand(new RunCommand(()->{
drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
},drive));
} }
private void configureBindings() {} private void configureBindings() {}