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

.pathplanner/settings.json

@@ -0,0 +1,16 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "1"
+  ],
+  "autoFolders": [
+    "1"
+  ],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}

src/main/deploy/pathplanner/autos/1.auto

@@ -26,6 +26,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "1",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/paths/1.1.path

@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "1",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/1.2.path

@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "1",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }

src/main/java/frc/robot/RobotContainer.java

@@ -4,12 +4,45 @@
 
 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.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 {
+  
+  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() {
+
+    CameraServer.startAutomaticCapture();
+
     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() {}

src/main/java/frc/robot/subsystem/Grimpeur.java

@@ -40,9 +40,6 @@ public void resetencodeurd(){
 public void resetencodeurg(){
   grimpeurg.getEncoder().setPosition(0);
 }
-public void grimpeur(){
-  grimpeurg.follow(grimpeurd);
-}
 public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();