From 6c389731f40f22b4cb2343bee4cdc4a70df68c72 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 26 Feb 2025 19:47:32 -0500 Subject: [PATCH] dashboard mieux --- src/main/java/frc/robot/commands/GrimpeurBas.java | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java index d6d27f7..0dddd56 100644 --- a/src/main/java/frc/robot/commands/GrimpeurBas.java +++ b/src/main/java/frc/robot/commands/GrimpeurBas.java @@ -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);