PLS5618/Reefscape-2025
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touche, amperage, distance

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This commit is contained in:
Antoine PerreaultE
2025-03-03 09:22:48 -05:00
parent 37452f0b05
commit 264bbd003f
17 changed files with 227 additions and 102 deletions
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26
src/main/java/frc/robot/commands/Elevateur/L4.java
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@@ -28,24 +28,24 @@ public class L4 extends Command {
@Override
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
elevateur.vitesse(0);
elevateur.vitesse(0);
pince.pivote(-0.1);
if(pince.encodeurpivot()>=22 && pince.encodeurpivot()<=23){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=22){
pince.pivote(-0.15);
}
else{
pince.pivote(0.15);
}
}
else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
elevateur.vitesse(-0.5);
elevateur.vitesse(-0.7);
}
else{
elevateur.vitesse(.5);
elevateur.vitesse(.25);
}
if(pince.encodeurpivot()>=21.76 && pince.encodeurpivot()<=22.3){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=22.3){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}
// Called once the command ends or is interrupted.