PLS5618/robot-2024
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This commit is contained in:
Olivier Dubois
2024-02-08 20:16:02 -05:00
parent 6490a61378
commit db3c800ae1
3 changed files with 62 additions and 5 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@ -64,7 +64,6 @@ public class RobotContainer {
CommandXboxController manette = new CommandXboxController(1);
//command
PistonFerme pistonFerme = new PistonFerme(grimpeur);
Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
Balayer balayer = new Balayer(balayeuse, accumulateur);
GuiderHaut guiderHaut = new GuiderHaut(guideur);
Lancer lancer = new Lancer(lanceur,limelight);
@ -86,8 +85,8 @@ public class RobotContainer {
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));
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)));
configureBindings();
drive.setDefaultCommand(new RunCommand(()->{
drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));