PLS5618/Reefscape-2025
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This commit is contained in:
EdwardFaucher 2025-03-19 12:03:48 -04:00
parent 398ea4ac82
commit 792d780d89
1 changed files with 6 additions and 2 deletions
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8
src/main/java/frc/robot/RobotContainer.java
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@ -163,7 +163,7 @@ public class RobotContainer {
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5), .withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0.1*MaxSpeed) drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5), .withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
@ -173,7 +173,11 @@ public class RobotContainer {
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(-0.1*MaxSpeed) drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(3), .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()->
drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0) drive.withVelocityX(0)
.withVelocityY(0) .withVelocityY(0)