PLS5618/robot-2024
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Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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This commit is contained in:
Antoine PerreaultE
2024-02-12 17:50:07 -05:00
parent 2d907300cc db3c800ae1
commit 108f73436b
16 changed files with 235 additions and 56 deletions
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46
src/main/java/frc/robot/RobotContainer.java
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@@ -10,11 +10,16 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Manette
import edu.wpi.first.wpilibj2.command.WaitCommand;
// Manettes
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -29,7 +34,9 @@ import frc.robot.command.GuiderHaut;
import frc.robot.command.Lancer;
import frc.robot.command.LancerNote;
import frc.robot.command.Lancerampli;
import frc.robot.command.Limelight_tracker;
import frc.robot.command.PistonFerme;
import frc.robot.command.Pistongrimpeur;
// Subsystems
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse;
@@ -43,6 +50,7 @@ import frc.robot.subsystem.Pixy;
public class RobotContainer {
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private final SendableChooser<Command> autoChooser;
Drive drive = new Drive();
Accumulateur accumulateur = new Accumulateur();
@@ -50,32 +58,36 @@ public class RobotContainer {
Grimpeur grimpeur = new Grimpeur();
Guideur guideur = new Guideur();
Lanceur lanceur = new Lanceur();
Balayer balayer = new Balayer(balayeuse, accumulateur);
GuiderHaut guiderHaut = new GuiderHaut(guideur);
GuiderBas guiderBas = new GuiderBas(guideur);
Limelight limelight = new Limelight();
Lancer lancer = new Lancer(lanceur,limelight);
LancerNote lancernote = new LancerNote(lanceur, accumulateur);
Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
LED LED = new LED();
Pixy pixy = new Pixy();
CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1);
//command
PistonFerme pistonFerme = new PistonFerme(grimpeur);
Balayer balayer = new Balayer(balayeuse, accumulateur);
GuiderHaut guiderHaut = new GuiderHaut(guideur);
Lancer lancer = new Lancer(lanceur,limelight);
LancerNote lancernote = new LancerNote(lanceur, accumulateur);
Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
LED LED = new LED();
AllumeLED allumeLED = new AllumeLED(LED);
Pixy pixy = new Pixy();
Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
public RobotContainer() {
dashboard.addCamera("limelight", "limelight","limelight.local:5800");
NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
manette.a().whileTrue(guiderBas);
manette.b().whileTrue(guiderHaut);
joystick.button(3).toggleOnTrue(balayer);
joystick.button(1).whileTrue(lancernote);
manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur));
joystick.button(3).toggleOnTrue(new Balayer(balayeuse, accumulateur));
joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));
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));
@@ -84,6 +96,9 @@ public class RobotContainer {
grimpeur.droit(manette.getLeftX());}
,grimpeur));
LED.setDefaultCommand(allumeLED);
dashboard.add("autochooser",autoChooser)
.withSize(2,1)
.withPosition(1,1);
}
private void configureBindings() {
@@ -92,5 +107,6 @@ public class RobotContainer {
public Command getAutonomousCommand(){
return autoChooser.getSelected();
}
}