PLS5618/Reefscape-2025
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simulation fait

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This commit is contained in:
Antoine PerreaultE
2025-02-03 18:19:29 -05:00
parent 6f75b9cc42
commit 44f6030e99
3 changed files with 21 additions and 11 deletions
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16
src/main/java/frc/robot/RobotContainer.java
View File

@@ -32,7 +32,7 @@ public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
private final SendableChooser<Command> autoChooser;
// private final SendableChooser<Command> autoChooser;
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,13 +41,13 @@ public class RobotContainer {
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
/* NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
autoChooser = AutoBuilder.buildAutoChooser();
autoChooser = AutoBuilder.buildAutoChooser();*/
}
private void configureBindings() {
@@ -56,16 +56,16 @@ public class RobotContainer {
manette1.b().whileTrue(new CoralAlgueInspire(pince));
manette1.x().whileTrue(new CoralInspire(pince));
manette1.y().whileTrue(new CoralExpire(pince));
manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
manette1.povUp().whileTrue(new L4(elevateur, pince));
manette1.povRight().whileTrue(new L2(elevateur, pince));
manette1.povLeft().whileTrue(new L3(elevateur, pince));
manette1.povDown().whileTrue(new Depart(elevateur, pince));
//manette2
manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
manette2.a().whileTrue(new StationPince(pince,elevateur));
}
public Command getAutonomousCommand() {
return autoChooser.getSelected();
return null;// autoChooser.getSelected();
}
}

6
src/main/java/frc/robot/command/L4.java
View File

@@ -27,7 +27,7 @@ public class L4 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()>=800 && elevateur.position()<=810){
if(elevateur.position()>=800 && elevateur.position()<=809){
elevateur.vitesse(0);
}
else if(elevateur.position()>=810){
@@ -36,7 +36,7 @@ public class L4 extends Command {
else{
elevateur.vitesse(.5);
}
if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=810){
@@ -57,6 +57,6 @@ public class L4 extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return elevateur.position()>=800;
return false;
}
}