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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2
src/main/java/frc/robot/commands/requin/BalayeuseBas.java
View File

@@ -24,7 +24,7 @@ public class BalayeuseBas extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.rotationer(0.5);
requin.rotationer(0.2);
}
// Called once the command ends or is interrupted.
@Override

40
src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
View File

@@ -29,28 +29,26 @@ public class BalayeuseCoral extends Command {
public void execute() {
if(requin.encodeur()<=1200 && requin.encodeur()>=1025){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(0);
bougie.Vert();
if(requin.enHaut()){
requin.rotationer(0);
}
else{
requin.rotationer(-0.5);
}
}
else{
if(requin.amp()>=12){
requin.xRequin = true;
}
if(requin.xRequin){
requin.balaye(0);
bougie.Vert();
}
else{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=1200){
requin.rotationer(-0.5);
}
else{
requin.rotationer(0.5);
}
}
}
}
if (!requin.xRequin) {
if(requin.encodeur()>=1200){
requin.rotationer(-0.5);
}
else{
requin.rotationer(0.5);
}
}
}
// Called once the command ends or is interrupted.
@Override

9
src/main/java/frc/robot/commands/requin/exspire.java
View File

@@ -29,7 +29,14 @@ public class exspire extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.balaye(0.5);
if(requin.amp()> 15)
{
requin.balaye(0.5);
}
else{
bougie.Rouge();
requin.balaye(0.5);
}
}
// Called once the command ends or is interrupted.