PLS5618/robot-2024
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This commit is contained in:
samuel desharnais 2024-02-06 18:17:08 -05:00
parent c257411505
commit a708aac700
1 changed files with 8 additions and 2 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Manettes // Manettes
import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.command.AllumeLED;
// Commands // Commands
import frc.robot.command.Balayer; import frc.robot.command.Balayer;
import frc.robot.command.GrimpeurDroit; import frc.robot.command.GrimpeurDroit;
@ -35,6 +35,7 @@ import frc.robot.subsystem.Balayeuse;
import frc.robot.subsystem.Drive; import frc.robot.subsystem.Drive;
import frc.robot.subsystem.Grimpeur; import frc.robot.subsystem.Grimpeur;
import frc.robot.subsystem.Guideur; import frc.robot.subsystem.Guideur;
import frc.robot.subsystem.LED;
import frc.robot.subsystem.Lanceur; import frc.robot.subsystem.Lanceur;
@ -56,6 +57,8 @@ public class RobotContainer {
CommandXboxController manette = new CommandXboxController(1); CommandXboxController manette = new CommandXboxController(1);
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX); GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY); GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
LED LED = new LED();
AllumeLED allumeLED = new AllumeLED(LED, accumulateur);
public RobotContainer() { public RobotContainer() {
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));
@ -69,7 +72,10 @@ public class RobotContainer {
drive.setDefaultCommand(new RunCommand(()->{ 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.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
},drive)); },drive));
grimpeur.setDefaultCommand(new RunCommand(()->{
grimpeur.droit(manette.getLeftX());}
,grimpeur));
LED.setDefaultCommand(allumeLED);
} }
private void configureBindings() { private void configureBindings() {