PLS5618/robot-2024
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revenu a la normal

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samuel desharnais
2024-02-20 17:50:35 -05:00
parent 84f4f4ad46
commit b46109fe0b
2 changed files with 9 additions and 24 deletions
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25
src/main/java/frc/robot/RobotContainer.java
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@@ -79,7 +79,7 @@ public class RobotContainer {
NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser();
/*manette.a().whileTrue(new GuiderBas(guideur));
manette.a().whileTrue(new GuiderBas(guideur));
dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
.withSize(4, 4)
.withPosition(3, 0);
@@ -92,11 +92,11 @@ 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));
@@ -109,23 +109,8 @@ public class RobotContainer {
LED.setDefaultCommand(allumeLED);
dashboard.add("autochooser",autoChooser)
.withSize(2,1)
.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));
.withPosition(1,1);
}