PLS5618/robot-2024
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This commit is contained in:
Olivier Dubois 2024-02-08 19:53:38 -05:00
parent 99f3a8fe2c
commit d503dc6127
1 changed files with 5 additions and 6 deletions
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11
src/main/java/frc/robot/RobotContainer.java
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@ -67,8 +67,7 @@ public class RobotContainer {
Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
Balayer balayer = new Balayer(balayeuse, accumulateur);
GuiderHaut guiderHaut = new GuiderHaut(guideur);
GuiderBas guiderBas = new GuiderBas(guideur);
Lancer lancer = new Lancer(lanceur,limelight);
Lancer lancer = new Lancer(lanceur,limelight);
LancerNote lancernote = new LancerNote(lanceur, accumulateur);
Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
@ -83,10 +82,10 @@ public class RobotContainer {
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
manette.a().whileTrue(guiderBas);
manette.b().whileTrue(guiderHaut);
joystick.button(3).toggleOnTrue(balayer);
joystick.button(1).whileTrue(lancernote);
manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur));
joystick.button(3).toggleOnTrue(new Balayer(balayeuse, accumulateur));
joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
joystick.button(4).whileTrue(new ParallelCommandGroup(lancer,limelight_tracker));
joystick.button(2).whileTrue(new ParallelCommandGroup(lancerampli,limelight_tracker,guiderHaut));