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lanceur

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samuel desharnais
2026-03-17 18:42:24 -04:00
parent 873095e865
commit 97387630aa
8 changed files with 99 additions and 29 deletions
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14
src/main/java/frc/robot/RobotContainer.java
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@@ -15,15 +15,16 @@ import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.Aspirer;
import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
import frc.robot.commands.Lancer;
import frc.robot.commands.LancerAspirer;
import frc.robot.commands.LancerBaseVitesse;
import frc.robot.commands.Limelighter;
import frc.robot.commands.ModeOposer;
import frc.robot.commands.ModeOposerDemeleur;
import frc.robot.commands.MonterBalyeuse;
import frc.robot.commands.MonterGrimpeur;
import frc.robot.commands.ModeAuto.AspirerAuto;
@@ -52,6 +53,7 @@ public class RobotContainer {
Limelight3G limeLight3G = new Limelight3G();
Led led = new Led();
CommandXboxController manette = new CommandXboxController(0);
CommandXboxController manette1 = new CommandXboxController(1);
private double MaxSpeed = 1.0 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
@@ -93,15 +95,21 @@ public class RobotContainer {
.withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
)
);
//manette 1
manette.povUp().whileTrue(new LancerAuto(lanceur));
manette.a().whileTrue(new Lancer(lanceur,limeLight3G,balayeuse,led));
manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));
manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3));
manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
manette.b().whileTrue(new Aspirer(balayeuse,led));
//manette 2
manette1.povDown().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3, led));
manette1.y().whileTrue(new ModeOposer(lanceur, balayeuse));
manette1.x().whileTrue(new ModeOposerDemeleur(lanceur));
}
public Command getAutonomousCommand() {