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dashboard mieux

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This commit is contained in:
samuel desharnais 2025-02-26 19:47:32 -05:00
parent 079fa4e0a7
commit 6c389731f4
1 changed files with 11 additions and 2 deletions
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13
src/main/java/frc/robot/commands/GrimpeurBas.java
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@ -4,12 +4,19 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Grimpeur;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class GrimpeurBas extends Command {
private Grimpeur grimpeur;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur grimpeur bas").subscribe(-39.19);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur grimpeur haut ").subscribe(-38.5);
/** Creates a new GrimpeurBas. */
public GrimpeurBas(Grimpeur grimpeur) {
this.grimpeur = grimpeur;
@ -24,10 +31,12 @@ public class GrimpeurBas extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
double encodeurbas = encodeur1.get();
double encodeurhaut = encodeur2.get();
if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
grimpeur.grimpe(0);
}
else if(grimpeur.encodeur()>=-38.5){
else if(grimpeur.encodeur()>=encodeurhaut){
grimpeur.grimpe(-0.5);
}
else{grimpeur.grimpe(0.5);