PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Antoine PerreaultE
2025-03-01 15:28:12 -05:00
parent 0c701558ec b6bd4d9319
commit 37452f0b05
3 changed files with 16 additions and 7 deletions
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15
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@ -7,6 +7,7 @@ package frc.robot.commands.Elevateur;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;
@ -15,11 +16,13 @@ public class StationPince extends Command {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private Pince pince;
private Elevateur elevateur;
private Bougie bougie;
/** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) {
public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
this.elevateur = elevateur;
this.pince = pince;
addRequirements(pince,elevateur);
this.bougie = bougie;
addRequirements(pince,elevateur, bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -30,7 +33,13 @@ public class StationPince extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
pince.aspirecoral(0.5);
if(pince.emperagecoral() > 60){
pince.aspirecoral(0);bougie.Bleu();
}
else{
pince.aspirecoral(0.5);
}
if(pince.encodeurpivot()<=11 && pince.encodeurpivot()>=12.6){
pince.pivote(0);
}