mode auto

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

@@ -4,8 +4,13 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -19,7 +24,9 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.command.Balayer;
 import frc.robot.command.GuiderBas;
 import frc.robot.command.GuiderHaut;
-
+import frc.robot.command.Lancer;
+import frc.robot.command.LancerNote;
+import frc.robot.command.Lancerampli;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -30,7 +37,7 @@ import frc.robot.subsystem.Lanceur;
 
 
 public class RobotContainer {
-  
+  private final SendableChooser<Command> autoChooser;
   Drive drive = new Drive();
   Accumulateur accumulateur = new Accumulateur();
   Balayeuse balayeuse = new Balayeuse();
@@ -40,11 +47,13 @@ public class RobotContainer {
   Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
-  
+  LancerNote lancernote = new LancerNote(lanceur, accumulateur);
+  Lancerampli lancerampli = new Lancerampli(lanceur);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
   
   public RobotContainer() {
+    autoChooser = AutoBuilder.buildAutoChooser();
 
     CameraServer.startAutomaticCapture();
     manette.a().onTrue(guiderBas);
@@ -53,6 +62,8 @@ public class RobotContainer {
      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));
+    NamedCommands.registerCommand("balayer",balayer);
+    NamedCommands.registerCommand("lancer", lancernote);
   }
 
   private void configureBindings() {
@@ -62,6 +73,6 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return new SequentialCommandGroup(null);
+    return null;
   }
 }

src/main/java/frc/robot/command/Lancer.java

@@ -13,7 +13,7 @@ import frc.robot.subsystem.Lanceur;
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
   private Lanceur lanceur;
-  public Lancer() {
+  public Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(lanceur);

src/main/java/frc/robot/command/Lancerampli.java

@@ -15,7 +15,7 @@ public class Lancerampli extends Command {
 
   private Lanceur lanceur;
   
-  public Lancerampli() {
+  public Lancerampli(Lanceur lanceur) {
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(lanceur);
     this.lanceur = lanceur;