PLS5618/robot-2024
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This commit is contained in:
samuel desharnais
2024-02-01 19:20:32 -05:00
parent 834d67d437
commit 76c55bf984
34 changed files with 1586 additions and 64 deletions
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19
src/main/java/frc/robot/RobotContainer.java
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@@ -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;
}
}