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changement encodeur l3, pince algue

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This commit is contained in:
Antoine PerreaultE
2025-02-25 19:38:53 -05:00
parent 606c4e98f3
commit 5b754ff824
4 changed files with 64 additions and 12 deletions
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22
src/main/java/frc/robot/commands/L3.java
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@@ -28,24 +28,24 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()>=700 && elevateur.position()<=710){
if(elevateur.position()<=-4 && elevateur.position()>=-4.7){
elevateur.vitesse(0);
}
else if(elevateur.position()>=510){
else if(elevateur.position()>=-4.7){
elevateur.vitesse(0.5);
}
else{
elevateur.vitesse(-.5);
}
if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=710){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
}
// if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=710){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
// }
}
// Called once the command ends or is interrupted.