PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE 2024-02-28 17:58:59 -05:00
parent 805ba5e7aa
commit a41957b6b2
1 changed files with 4 additions and 0 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -31,6 +31,7 @@ import frc.robot.command.LancerTrape;
import frc.robot.command.Lancerampli; import frc.robot.command.Lancerampli;
import frc.robot.command.Limelight_tracker; import frc.robot.command.Limelight_tracker;
import frc.robot.command.RestGyro; import frc.robot.command.RestGyro;
import frc.robot.command.Debalayer;
// Subsystems // Subsystems
import frc.robot.subsystem.Accumulateur; import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse; import frc.robot.subsystem.Balayeuse;
@ -65,6 +66,8 @@ public class RobotContainer {
Lancerampli lancerampli = new Lancerampli(lanceur,limelight); Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY); GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY);
GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY); GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY);
Debalayer debalayer = new Debalayer(balayeuse, accumulateur);
public RobotContainer() { public RobotContainer() {
dashboard.addCamera("limelight", "limelight","limelight.local:5800") dashboard.addCamera("limelight", "limelight","limelight.local:5800")
@ -94,6 +97,7 @@ public class RobotContainer {
joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive))); joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive)));
joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur)); joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur));
joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive)); joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive));
joystick.button(8).whileTrue(new Debalayer(balayeuse, accumulateur));
// deplacement // deplacement
configureBindings(); configureBindings();