PLS5618/robot-2024
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samuel desharnais
2024-02-19 19:59:59 -05:00
parent e0ee680ff7
commit b0830bbe39
2 changed files with 74 additions and 6 deletions
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27
src/main/java/frc/robot/RobotContainer.java
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@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
// Manettes
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
// Commands
import frc.robot.command.AllumeLED;
import frc.robot.command.Balayer;
@@ -78,7 +78,7 @@ public class RobotContainer {
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
manette.a().whileTrue(new GuiderBas(guideur));
/*manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur));
manette.x().whileTrue(new PistonFerme(grimpeur));
manette.y().whileTrue(new PistonOuvre(grimpeur));
@@ -86,11 +86,11 @@ public class RobotContainer {
joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
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),new GuiderHaut(guideur)));
joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));*/
// deplacement
configureBindings();
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));
@@ -103,7 +103,24 @@ public class RobotContainer {
LED.setDefaultCommand(allumeLED);
dashboard.add("autochooser",autoChooser)
.withSize(2,1)
.withPosition(1,1);
.withPosition(1,1);*/
manette
.a()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette
.b()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette
.x()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette
.y()
.and(manette.rightBumper())
.whileTrue(lanceur.sysIdDynamic(SysIdRoutine.Direction.kReverse));
}
private void configureBindings() {}