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drivetrain + autoBuilder/chooser + tournerAZero/180

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This commit is contained in:
Antoine PerreaultE
2026-03-10 18:52:29 -04:00
parent c0a2c67261
commit d1f4e11cfb
4 changed files with 101 additions and 102 deletions
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20
src/main/java/frc/robot/RobotContainer.java
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@@ -8,9 +8,12 @@ import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
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;
@@ -41,6 +44,7 @@ import frc.robot.subsystems.LimeLight3;
import frc.robot.subsystems.Limelight3G;
public class RobotContainer {
private final SendableChooser<Command> autoChooser;
Balayeuse balayeuse = new Balayeuse();
Grimpeur grimpeur = new Grimpeur();
Lanceur lanceur = new Lanceur();
@@ -60,12 +64,11 @@ public class RobotContainer {
private final Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController joystick = new CommandXboxController(0);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture();
configureBindings();
NamedCommands.registerCommand("GrimperMur", new GrimperMur());
@@ -76,13 +79,20 @@ public class RobotContainer {
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("TournerAZero", new TournerAZero(drivetrain));
NamedCommands.registerCommand("TournerA180", new TournerA180(drivetrain));
NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
}
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05))
.withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05))
.withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
)
);
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));
@@ -94,6 +104,6 @@ public class RobotContainer {
}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
return autoChooser.getSelected();
}
}