sdesharnais/Rebuilt-2026
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debug de samedi

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samuel desharnais
2026-03-21 16:11:24 -04:00
parent e0c1e26933
commit a7fb3108ea
18 changed files with 178 additions and 150 deletions
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39
src/main/java/frc/robot/RobotContainer.java
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@@ -25,6 +25,7 @@ import frc.robot.commands.LancerAspirer;
import frc.robot.commands.LancerBaseVitesse;
import frc.robot.commands.Limelighter;
import frc.robot.commands.ModeOposer;
import frc.robot.commands.ModeOposerBalayeuse;
import frc.robot.commands.ModeOposerDemeleur;
import frc.robot.commands.MonterBalyeuse;
import frc.robot.commands.MonterGrimpeur;
@@ -55,7 +56,7 @@ public class RobotContainer {
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 MaxSpeed = 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
/* Setting up bindings for necessary control of the swerve drive platform */
@@ -97,25 +98,31 @@ public class RobotContainer {
)
);
//manette 1
manette.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
// manette1.povUp().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
// manette1.povDown().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
// manette1.povRight().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
// manette1.povLeft().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
manette.povUp().whileTrue(new LancerAuto(lanceur));
manette.a().whileTrue(new Lancer(lanceur,limeLight3G,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.povUp().whileTrue(new MonterGrimpeur(grimpeur));
manette.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
manette.rightTrigger().whileTrue(new Lancer(lanceur, limeLight3G));
manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
manette.rightBumper().whileTrue(new Aspirer(balayeuse));
manette.y().whileTrue(new TournerAZero(drivetrain));
manette.b().whileTrue(new GrimperReservoir(limeLight3G, drivetrain));
manette.x().whileTrue(new GrimperMur(limeLight3, drivetrain));
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));
manette1.rightTrigger().whileTrue(new Aspirer(balayeuse));
manette1.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur, limeLight3G));
manette1.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
manette1.x().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3G));
manette1.b().whileTrue(new ModeOposer(lanceur));
manette1.a().whileTrue(new ModeOposerDemeleur(lanceur));
manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
}
public Command getAutonomousCommand() {