PLS5618/Reefscape-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

pid d`édouard

Browse Source
This commit is contained in:
EdwardFaucher
2025-10-29 18:34:30 -04:00
parent 837435643b
commit 3715451972
8 changed files with 84 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
src/main/java/frc/robot/commands/Elevateur/L2.java
View File

@@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands.Elevateur;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
@@ -11,6 +12,8 @@ import frc.robot.subsystems.Pince;
public class L2 extends Command {
private Elevateur elevateur;
private Pince pince;
private PIDController pidController;
private double output;
/** Creates a new L2. */
public L2(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@@ -21,20 +24,24 @@ public class L2 extends Command {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
pidController = new PIDController(0.025, 0.00125,0.001, 0.01);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=15){
pince.pivote(-0.2);
}
else{
pince.pivote(0.1);
}
output = pidController.calculate(pince.encodeurpivot(),15);
pince.pivote(output);
// if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=15){
// pince.pivote(-0.2);
// }
// else{
// pince.pivote(0.1);
// }
}