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encodeur grimpeur

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This commit is contained in:
samuel desharnais 2025-03-01 09:25:02 -05:00
parent f8fb960de8
commit 17875a3d15
1 changed files with 2 additions and 12 deletions
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14
src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
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@ -4,19 +4,11 @@
package frc.robot.commands.grimpeur; package frc.robot.commands.grimpeur;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Grimpeur; import frc.robot.subsystems.Grimpeur;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class GrimpeurBas extends Command { public class GrimpeurBas extends Command {
private Grimpeur grimpeur; private Grimpeur grimpeur;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5);
/** Creates a new GrimpeurBas. */ /** Creates a new GrimpeurBas. */
public GrimpeurBas(Grimpeur grimpeur) { public GrimpeurBas(Grimpeur grimpeur) {
this.grimpeur = grimpeur; this.grimpeur = grimpeur;
@ -31,12 +23,10 @@ public class GrimpeurBas extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
double encodeurbas = encodeur1.get(); if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
double encodeurhaut = encodeur2.get();
if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
grimpeur.grimpe(0); grimpeur.grimpe(0);
} }
else if(grimpeur.encodeur()>=encodeurhaut){ else if(grimpeur.encodeur()>=-38.5){
grimpeur.grimpe(-0.5); grimpeur.grimpe(-0.5);
} }
else{grimpeur.grimpe(0.5); else{grimpeur.grimpe(0.5);