valeurs encodeurs, sequance, touche, quelque test amperage
This commit is contained in:
@ -26,12 +26,11 @@ public class L2 extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(pince.encodeurpivot()>=16 && pince.encodeurpivot()<=17){
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if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){
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pince.pivote(0);
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}
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else if(pince.encodeurpivot()>=17){
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pince.pivote(-0.1);
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else if(pince.encodeurpivot()>=14){
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pince.pivote(-0.2);
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}
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else{
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pince.pivote(0.1);
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@ -28,26 +28,26 @@ public class L3 extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
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elevateur.vitesse(0);
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pince.pivote(-0.15);
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if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
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pince.pivote(0);
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}
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else if(pince.encodeurpivot()>=20){
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pince.pivote(-0.15);
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}
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else{
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pince.pivote(0.15);
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}
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}
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else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
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elevateur.vitesse(-0.7);
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if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
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elevateur.vitesse(0);
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pince.pivote(-0.15);
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if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
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pince.pivote(0);
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}
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else if(pince.encodeurpivot()>=20){
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pince.pivote(-0.15);
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}
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else{
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elevateur.vitesse(0.25);
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pince.pivote(0.15);
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}
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}
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else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
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elevateur.vitesse(-0.7);
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}
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else{
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elevateur.vitesse(0.25);
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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@ -29,11 +29,11 @@ public class L4 extends Command {
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public void execute() {
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if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
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elevateur.vitesse(0);
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pince.pivote(-0.1);
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if(pince.encodeurpivot()>=22 && pince.encodeurpivot()<=23){
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pince.pivote(-0.15);
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if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
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pince.pivote(0);
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}
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else if(pince.encodeurpivot()>=22){
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else if(pince.encodeurpivot()>=20){
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pince.pivote(-0.15);
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}
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else{
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@ -22,7 +22,7 @@ public class StationPince extends Command {
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this.elevateur = elevateur;
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this.pince = pince;
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this.bougie = bougie;
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addRequirements(pince,elevateur, bougie);
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addRequirements(pince, elevateur, bougie);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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@ -35,9 +35,18 @@ public class StationPince extends Command {
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@Override
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public void execute() {
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if(pince.emperagecoral() >= 12){
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if(pince.emperagecoral() >= 18){
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pince.x = true;
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}
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if(elevateur.position()<=-0.1 && elevateur.position()>= -0.2){
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elevateur.vitesse(0);
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}
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else if(elevateur.position()>=-0.1){
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elevateur.vitesse(-0.7);
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}
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else{
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elevateur.vitesse(0.25);
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}
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if(pince.x){
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pince.aspirecoral(0);
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bougie.Bleu();
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@ -47,19 +56,21 @@ public class StationPince extends Command {
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}
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}
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else{
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pince.aspirecoral(0.1);
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pince.aspirecoral(0.25);
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}
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if (!pince.x){
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if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
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pince.pivote(-0.15);
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if(pince.encodeurpivot()>=10 && pince.encodeurpivot()<=11){
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pince.pivote(0);
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}
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else if(pince.encodeurpivot()>=11){
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pince.pivote(-0.1);
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else if(pince.encodeurpivot()>=10.5){
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pince.pivote(-0.15);
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}
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else{
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pince.pivote(0.1);
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pince.pivote(0.15);
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}
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}
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}
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}
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// Called once the command ends or is interrupted.
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@ -67,6 +78,7 @@ public class StationPince extends Command {
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public void end(boolean interrupted) {
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pince.pivote(0);
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pince.aspirecoral(0);
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elevateur.vitesse(0);
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pince.x =false;
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}
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@ -26,13 +26,13 @@ public class CoralExpire extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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/* je crois que ce nest pas necessaire
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if(pince.emperagecoral() > 60){
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pince.aspirecoral(0);
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}
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else{
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*/
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pince.aspirecoral(-.5);
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bougie.Jaune();
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}
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}
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// Called once the command ends or is interrupted.
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@ -27,31 +27,28 @@ public class BalayeuseAlgue extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(requin.amp()>=12){
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requin.xRequin = true;
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}
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double cibleMin = 700;
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double cibleMax = 900;
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if(requin.amp()>=78.2){
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requin.xRequin = true;
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}
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if(requin.xRequin){
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bougie.Vert();
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requin.balaye(0);
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}
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else{
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requin.balaye(.2);
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}
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if(!requin.xRequin){
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if(requin.encodeur()>=700){
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requin.rotationer(-0.5);
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}
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if(!requin.xRequin){
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if(requin.encodeur()<=cibleMax && requin.encodeur()>=cibleMin){
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requin.rotationer(0);
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requin.balaye(-0.4);
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}
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else if(requin.encodeur()>=cibleMax){
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requin.rotationer(-0.1);
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}
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else{
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requin.rotationer(0.5);
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requin.rotationer(0.3);
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}
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if(requin.encodeur()<=715 && requin.encodeur()>=670){
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requin.rotationer(0);
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}
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}
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}
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}
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// Called once the command ends or is interrupted.
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@ -59,6 +56,7 @@ public class BalayeuseAlgue extends Command {
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public void end(boolean interrupted) {
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requin.rotationer(0);
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requin.balaye(0);
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requin.xRequin = false;
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}
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// Returns true when the command should end.
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@ -27,27 +27,27 @@ public class BalayeuseCoral extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(requin.encodeur()<=1200 && requin.encodeur()>=1025){
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requin.rotationer(0);
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if(requin.amp()>=12){
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double cibleMax = 1100;
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double cibleMin = 900;
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if(requin.amp()>=78.2){
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requin.xRequin = true;
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}
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if(requin.xRequin){
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requin.balaye(0);
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bougie.Vert();
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}
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if (!requin.xRequin) {
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if(requin.encodeur()<=cibleMax && requin.encodeur()>=cibleMin){
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requin.rotationer(0);
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requin.balaye(0.7);
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}
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else if(requin.encodeur()>=cibleMax){
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requin.rotationer(-0.5);
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}
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else{
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requin.balaye(0.5);
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requin.rotationer(0.5);
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}
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}
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if (!requin.xRequin) {
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if(requin.encodeur()>=1200){
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requin.rotationer(-0.5);
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}
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else{
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requin.rotationer(0.5);
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}
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}
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}
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// Called once the command ends or is interrupted.
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@ -55,6 +55,7 @@ public class BalayeuseCoral extends Command {
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public void end(boolean interrupted) {
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requin.rotationer(0);
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requin.balaye(0);
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requin.xRequin = false;
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}
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// Returns true when the command should end.
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@ -28,14 +28,14 @@ public class ExpireCorail extends Command {
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@Override
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public void execute() {
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if(requin.amp()> 60){
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requin.balaye(-0.5);
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requin.balaye(-0.4);
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}
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else
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{
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bougie.Rouge();
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requin.balaye(-0.5);
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}
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else
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{
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bougie.Rouge();
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requin.balaye(-0.4);
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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@ -27,11 +27,11 @@ public class L1Requin extends Command {
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(requin.encodeur()<=645 && requin.encodeur()>=600){
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bougie.Bleu();
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if(requin.encodeur()<=530 && requin.encodeur()>=430){
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requin.rotationer(0);
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}
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else if(requin.encodeur()>=645){
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else if(requin.encodeur()>=530){
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requin.rotationer(-0.5);
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}
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else{
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@ -31,11 +31,11 @@ public class exspire extends Command {
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public void execute() {
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if(requin.amp()> 15)
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{
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requin.balaye(0.5);
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requin.balaye(0.4);
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}
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else{
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bougie.Rouge();
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requin.balaye(0.5);
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requin.balaye(0.4);
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}
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}
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@ -7,19 +7,20 @@ package frc.robot.commands;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystems.Elevateur;
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import frc.robot.subsystems.Pince;
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import frc.robot.subsystems.Requin;
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/* 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 */
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public class reset extends Command {
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/** Creates a new reset. */
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private Elevateur elevateur;
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private Pince pince;
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public reset(Elevateur elevateur, Pince pince) {
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private Requin requin;
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public reset(Elevateur elevateur, Pince pince, Requin requin) {
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// Use addRequirements() here to declare subsystem dependencies.
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this.elevateur = elevateur;
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this.pince = pince;
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addRequirements(elevateur,pince);
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this.requin = requin;
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addRequirements(elevateur,pince, requin);
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}
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// Called when the command is initially scheduled.
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@ -31,6 +32,7 @@ public class reset extends Command {
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public void execute() {
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elevateur.reset();
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pince.reset();
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requin.reset();
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}
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// Called once the command ends or is interrupted.
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