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Pathplanner sans le drivetrain

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This commit is contained in:
Antoine PerreaultE
2026-03-09 20:29:08 -04:00
parent 404afdbef5
commit 8dfcd65405
26 changed files with 1183 additions and 17 deletions
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23
src/main/java/frc/robot/RobotContainer.java
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@@ -4,6 +4,8 @@
package frc.robot;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
@@ -13,9 +15,18 @@ import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
import frc.robot.commands.Lancer;
import frc.robot.commands.LancerBaseVitesse;
import frc.robot.commands.Limelighter;
import frc.robot.commands.ModeOposer;
import frc.robot.commands.MonterBalyeuse;
import frc.robot.commands.MonterGrimpeur;
import frc.robot.commands.ModeAuto.AspirerAuto;
import frc.robot.commands.ModeAuto.GrimperMur;
import frc.robot.commands.ModeAuto.GrimperReservoir;
import frc.robot.commands.ModeAuto.LancerAuto;
import frc.robot.commands.ModeAuto.RetourMilieuDroite;
import frc.robot.commands.ModeAuto.RetourMilieuGauche;
import frc.robot.commands.ModeAuto.TournerA180;
import frc.robot.commands.ModeAuto.TournerAZero;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Lanceur;
@@ -32,6 +43,18 @@ public class RobotContainer {
public RobotContainer() {
CameraServer.startAutomaticCapture();
configureBindings();
NamedCommands.registerCommand("GrimperMur", new GrimperMur());
NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir());
NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
NamedCommands.registerCommand("Limelighter", new Limelighter());
NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
NamedCommands.registerCommand("TournerAZero", new TournerAZero());
NamedCommands.registerCommand("TournerA180", new TournerA180());
NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
}
private void configureBindings() {