PLS5618/robot-2024
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samuel desharnais
2024-01-30 19:52:09 -05:00
parent 074e91a4dc
commit f810501f42
7 changed files with 113 additions and 56 deletions
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9
src/main/java/frc/robot/RobotContainer.java
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@@ -13,7 +13,8 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
// Manette
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.command.GuiderBas;
import frc.robot.command.GuiderHaut;
// Subsystem
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Balayeuse;
@@ -31,14 +32,16 @@ public class RobotContainer {
Grimpeur grimpeur = new Grimpeur();
Guideur guideur = new Guideur();
Lanceur lanceur = new Lanceur();
GuiderHaut guiderHaut = new GuiderHaut(guideur);
GuiderBas guiderBas = new GuiderBas(guideur);
CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1);
public RobotContainer() {
CameraServer.startAutomaticCapture();
manette.a().onTrue(guiderBas);
manette.b().onTrue(guiderHaut);
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));