PLS5618/Reefscape-2025
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This commit is contained in:
EdwardFaucher 2025-04-07 12:06:05 -04:00
parent 80e1f22ea3
commit 172d3c92ab
2 changed files with 11 additions and 3 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -171,11 +171,11 @@ public class RobotContainer {
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
drivetrain.applyRequest(()->
drive.withVelocityX(-0.1*MaxSpeed)
drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()->
drive.withVelocityX(0.1*MaxSpeed)
drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()->

10
src/main/java/frc/robot/subsystems/Bougie.java
View File

@ -6,14 +6,22 @@ package frc.robot.subsystems;
import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.CANdleConfiguration;
import com.ctre.phoenix.led.FireAnimation;
import com.ctre.phoenix.led.LarsonAnimation;
import com.ctre.phoenix.led.RainbowAnimation;
import com.ctre.phoenix.led.TwinkleAnimation;
import com.ctre.phoenix.led.TwinkleOffAnimation;
import com.ctre.phoenix.led.TwinkleOffAnimation.TwinkleOffPercent;
import com.ctre.phoenix.led.LarsonAnimation.BounceMode;
import com.ctre.phoenix.led.TwinkleAnimation.TwinklePercent;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(23);
CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68);
LarsonAnimation rainbowAnim = new LarsonAnimation(256,0,0,0,0.1,68,BounceMode.Front,10,8);
//TwinkleOffAnimation rainbowAnim = new TwinkleOffAnimation(256, 0, 0,0,0.5,68,TwinkleOffPercent.Percent88,8);
/** Creates a new Bougie. */
public Bougie() {
config.brightnessScalar = 0.5;