PLS5618/Reefscape-2025
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encodeur

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This commit is contained in:
Antoine PerreaultE 2025-03-01 15:27:32 -05:00
parent 8afd6a74a5
commit 0c701558ec
2 changed files with 2 additions and 2 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -149,7 +149,7 @@ public class RobotContainer {
manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur)); manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05)); pince.pivote(MathUtil.applyDeadband((manette2.getRightY()*manette2.getRightY()*manette2.getRightY())/3, 0.05));
}, pince)); }, pince));
//Elevateur manuel //Elevateur manuel

2
src/main/java/frc/robot/commands/Elevateur/StationPince.java
View File

@ -31,7 +31,7 @@ public class StationPince extends Command {
@Override @Override
public void execute() { public void execute() {
pince.aspirecoral(0.5); pince.aspirecoral(0.5);
if(pince.encodeurpivot()<=9.8 && pince.encodeurpivot()>=12){ if(pince.encodeurpivot()<=11 && pince.encodeurpivot()>=12.6){
pince.pivote(0); pince.pivote(0);
} }
else if(pince.encodeurpivot()>=9.8){ else if(pince.encodeurpivot()>=9.8){