sdesharnais/Rebuilt-2026
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led selon distance

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samuel desharnais
2026-03-24 18:02:23 -04:00
parent 7d2b2ea139
commit 7f0f957ad1
3 changed files with 36 additions and 15 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.commands.Aspirer;
import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
import frc.robot.commands.DistanceLancer;
import frc.robot.commands.Lancer;
import frc.robot.commands.LancerAspirer;
import frc.robot.commands.LancerBaseVitesse;
@@ -87,13 +88,14 @@ public class RobotContainer {
NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
CameraServer.startAutomaticCapture();
configureBindings();
}
private void configureBindings() {
led.setDefaultCommand(new DistanceLancer(limeLight3G, led));
drivetrain.setDefaultCommand(
drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05))