PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE 2024-02-22 20:28:52 -05:00
parent 103ae14972
commit ad43cbbb89
2 changed files with 2 additions and 1 deletions
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1
src/main/java/frc/robot/RobotContainer.java
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@ -95,6 +95,7 @@ public class RobotContainer {
joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive))); joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
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));
// deplacement // deplacement
configureBindings(); configureBindings();
drive.setDefaultCommand(new RunCommand(()->{ drive.setDefaultCommand(new RunCommand(()->{

2
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase {
final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless); final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless);
// limit switch // limit switch
final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroite); final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite);
//fonction //fonction
public Grimpeur() { public Grimpeur() {
pistonouvre(); pistonouvre();