67 lines
2.1 KiB
Java
67 lines
2.1 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.math.MathUtil;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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// Manette
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import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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<<<<<<< HEAD
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import frc.robot.command.Balayer;
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=======
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import frc.robot.command.GuiderBas;
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import frc.robot.command.GuiderHaut;
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>>>>>>> 33990971eb46b4232501c29b34451800e658504b
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// Subsystem
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import frc.robot.subsystem.Accumulateur;
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import frc.robot.subsystem.Balayeuse;
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import frc.robot.subsystem.Drive;
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import frc.robot.subsystem.Grimpeur;
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import frc.robot.subsystem.Guideur;
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import frc.robot.subsystem.Lanceur;
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public class RobotContainer {
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Drive drive = new Drive();
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Accumulateur accumulateur = new Accumulateur();
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Balayeuse balayeuse = new Balayeuse();
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Grimpeur grimpeur = new Grimpeur();
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Guideur guideur = new Guideur();
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Lanceur lanceur = new Lanceur();
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Balayer balayer = new Balayer(balayeuse, accumulateur);
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GuiderHaut guiderHaut = new GuiderHaut(guideur);
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GuiderBas guiderBas = new GuiderBas(guideur);
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CommandJoystick joystick = new CommandJoystick(0);
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CommandXboxController manette = new CommandXboxController(1);
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public RobotContainer() {
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CameraServer.startAutomaticCapture();
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manette.a().onTrue(guiderBas);
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manette.b().onTrue(guiderHaut);
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configureBindings();
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drive.setDefaultCommand(new RunCommand(()->{
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drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
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},drive));
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}
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private void configureBindings() {
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joystick.button(3).toggleOnTrue(balayer);
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}
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public Command getAutonomousCommand() {
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return Commands.print("No autonomous command configured");
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}
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}
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