PLS5618/Reefscape-2025
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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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8
src/main/java/frc/robot/commands/L3.java
View File

@ -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.