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dashboard bien

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This commit is contained in:
samuel desharnais
2025-03-01 09:17:17 -05:00
parent 7e142a9425
commit 8f9519e5bb
5 changed files with 53 additions and 68 deletions
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17
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@@ -4,9 +4,6 @@
package frc.robot.commands.Elevateur;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
@@ -18,12 +15,6 @@ public class StationPince extends Command {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private Pince pince;
private Elevateur elevateur;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
/** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) {
this.elevateur = elevateur;
@@ -39,15 +30,11 @@ public class StationPince extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double encodeurBase = encodeur1.get();
double encodeurhaute = encodeur2.get();
double encodeurbasp = encodeur3.get();
double encodeurhautp = encodeur4.get();
pince.aspirecoral(0.5);
if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
if(pince.encodeurpivot()<=elevateur.encodeurelevateurstationbas() && pince.encodeurpivot()>=elevateur.encodeurelevateurstationhaut()){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=encodeurBase){
else if(pince.encodeurpivot()>=elevateur.encodeurelevateurstationbas()){
pince.pivote(0.2);
}
else{