PLS5618/Reefscape-2025
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pid d`édouard

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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
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14
src/main/java/frc/robot/commands/Elevateur/L3.java
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@@ -13,8 +13,10 @@ import frc.robot.subsystems.Pince;
public class L3 extends Command {
private Elevateur elevateur;
private Pince pince;
private PIDController pidController;
private PIDController pidController1;
private PIDController pidController2;
private double output;
private double output2;
/** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@@ -26,15 +28,19 @@ public class L3 extends Command {
// Called when the command is initially scheduled.
@Override
public void initialize() {
pidController = new PIDController(0.03, 0.001, 0.001);
pidController.reset();
pidController1 = new PIDController(0.3, 0.04,0);
pidController2 = new PIDController(0.025, 0.00125,0.001, 0.01);
pidController1.reset();
pidController2.reset();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
output = pidController.calculate(elevateur.position(),20);
output = pidController1.calculate(elevateur.position(),-3);
output2 = pidController2.calculate(pince.encodeurpivot(),20);
elevateur.vitesse(output);
pince.pivote(output2);
// if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
// elevateur.vitesse(0);
// pince.pivote(-0.15);