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ajuster distances

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This commit is contained in:
Antoine PerreaultE
2025-02-25 20:08:57 -05:00
parent 5b754ff824
commit 6c6abb58e1
3 changed files with 25 additions and 21 deletions
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12
src/main/java/frc/robot/RobotContainer.java
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@@ -26,12 +26,15 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.Algue1Test;
import frc.robot.commands.Algue2Test;
import frc.robot.commands.AlgueExpire;
import frc.robot.commands.Algue_inspire;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
import frc.robot.commands.ElevateurManuel;
import frc.robot.commands.Forme3;
import frc.robot.commands.L2;
import frc.robot.commands.L3;
import frc.robot.commands.L4;
import frc.robot.commands.PinceManuel;
import frc.robot.commands.PinceManuel2;
import frc.robot.commands.RainBow;
@@ -110,12 +113,13 @@ public class RobotContainer {
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.a().whileTrue(new reset(elevateur,pince));
manette1.b().whileTrue(new L2(elevateur, pince));
manette2.a().whileTrue(new Algue_inspire(pince));
manette2.b().whileTrue(new Algue1Test(pince));
manette2.x().whileTrue(new Algue2Test(pince));
manette2.b().whileTrue(new L2(elevateur, pince));
manette2.x().whileTrue(new L3(elevateur, pince));
manette2.y().whileTrue(new L4(elevateur, pince));
manette2.rightBumper().whileTrue(new AlgueExpire(pince, bougie));
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
}

8
src/main/java/frc/robot/commands/L3.java
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@@ -28,14 +28,14 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=-4 && elevateur.position()>=-4.7){
if(elevateur.position()<=-2.9 && elevateur.position()>=-3){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-4.7){
elevateur.vitesse(0.5);
else if(elevateur.position()>=-2.9){
elevateur.vitesse(-0.2);
}
else{
elevateur.vitesse(-.5);
elevateur.vitesse(.2);
}
// if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
// pince.pivote(0);

26
src/main/java/frc/robot/commands/L4.java
View File

@@ -28,24 +28,24 @@ 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()<=809){
if(elevateur.position()<=-6.5 && elevateur.position()>=-6.4){
elevateur.vitesse(0);
}
else if(elevateur.position()>=810){
elevateur.vitesse(0.5);
else if(elevateur.position()>=-6.5){
elevateur.vitesse(-0.2);
}
else{
elevateur.vitesse(.5);
}
if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=810){
pince.pivote(0.2);
}
else{
pince.pivote(-0.2);
elevateur.vitesse(.2);
}
// if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=810){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
// }
}
// Called once the command ends or is interrupted.