PLS5618/robot-2024
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
samuel desharnais 2024-02-20 18:52:56 -05:00
commit 6e867c5c99
3 changed files with 8 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/main/java/frc/robot/RobotContainer.java
View File

@ -74,21 +74,19 @@ public class RobotContainer {
AllumeLED allumeLED = new AllumeLED(LED, accumulateur); AllumeLED allumeLED = new AllumeLED(LED, accumulateur);
Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED); Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
public RobotContainer() { public RobotContainer() {
dashboard.addCamera("limelight", "limelight","limelight.local:5800") dashboard.addCamera("limelight", "limelight","limelight.local:5800")
.withSize(3,4) .withSize(3,4)
.withPosition(7,0); .withPosition(7,0);
dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream") dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
.withSize(4, 4) .withSize(4, 4)
.withPosition(3, 0); .withPosition(3, 0);
NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur)); NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur)); NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
NamedCommands.registerCommand("piston", new PistonFerme(grimpeur)); NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser(); autoChooser = AutoBuilder.buildAutoChooser();
manette.a().whileTrue(new GuiderBas(guideur));
dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
.withSize(4, 4)
.withPosition(3, 0);
manette.a().whileTrue(new GuiderBas(guideur)); manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur)); manette.b().whileTrue(new GuiderHaut(guideur));
@ -110,7 +108,7 @@ public class RobotContainer {
grimpeur.setDefaultCommand(new RunCommand(()->{ grimpeur.setDefaultCommand(new RunCommand(()->{
grimpeur.droit(MathUtil.applyDeadband(-manette.getLeftY(), 0.2)); grimpeur.droit(MathUtil.applyDeadband(-manette.getLeftY(), 0.2));
grimpeur.gauche(MathUtil.applyDeadband(-manette.getRightY(),0.2 ));} grimpeur.gauche(MathUtil.applyDeadband(-manette.getRightY(),0.2 ));}
,grimpeur)); ,grimpeur));
LED.setDefaultCommand(allumeLED); LED.setDefaultCommand(allumeLED);

2
src/main/java/frc/robot/command/LancerAmp.java
View File

@ -25,7 +25,7 @@ public class LancerAmp extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
double vitesse = 0.1; double vitesse = 0.15;
lancer.lanceramp(); lancer.lanceramp();
if(lancer.vitesse(vitesse)>vitesse){ if(lancer.vitesse(vitesse)>vitesse){
accumulateur.Accumuler(); accumulateur.Accumuler();

6
src/main/java/frc/robot/subsystem/Drive.java
View File

@ -21,9 +21,9 @@ import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase { public class Drive extends SubsystemBase {
/** Creates a new Drive. */ /** Creates a new Drive. */
public static final boolean kFrontLeftDriveMotorReversed = false; public static final boolean kFrontLeftDriveMotorReversed = true;
public static final boolean kBackLeftDriveMotorReversed = false; public static final boolean kBackLeftDriveMotorReversed = true;
public static final boolean kFrontRightDriveMotorReversed = true; public static final boolean kFrontRightDriveMotorReversed = false;
public static final boolean kBackRightDriveMotorReversed = true; public static final boolean kBackRightDriveMotorReversed = true;
SwerveDrive swerveDrive; SwerveDrive swerveDrive;