PLS5618/Reefscape-2025
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valeurs encodeurs, sequance, touche, quelque test amperage

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This commit is contained in:
Antoine PerreaultE
2025-03-03 20:32:11 -05:00
parent 263caa4d85
commit 9f4142d7aa
15 changed files with 168 additions and 113 deletions
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28
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@@ -22,7 +22,7 @@ public class StationPince extends Command {
this.elevateur = elevateur;
this.pince = pince;
this.bougie = bougie;
addRequirements(pince,elevateur, bougie);
addRequirements(pince, elevateur, bougie);
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -35,9 +35,18 @@ public class StationPince extends Command {
@Override
public void execute() {
if(pince.emperagecoral() >= 12){
if(pince.emperagecoral() >= 18){
pince.x = true;
}
if(elevateur.position()<=-0.1 && elevateur.position()>= -0.2){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-0.1){
elevateur.vitesse(-0.7);
}
else{
elevateur.vitesse(0.25);
}
if(pince.x){
pince.aspirecoral(0);
bougie.Bleu();
@@ -47,19 +56,21 @@ public class StationPince extends Command {
}
}
else{
pince.aspirecoral(0.1);
pince.aspirecoral(0.25);
}
if (!pince.x){
if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
pince.pivote(-0.15);
if(pince.encodeurpivot()>=10 && pince.encodeurpivot()<=11){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=11){
pince.pivote(-0.1);
else if(pince.encodeurpivot()>=10.5){
pince.pivote(-0.15);
}
else{
pince.pivote(0.1);
pince.pivote(0.15);
}
}
}
}
// Called once the command ends or is interrupted.
@@ -67,6 +78,7 @@ public class StationPince extends Command {
public void end(boolean interrupted) {
pince.pivote(0);
pince.aspirecoral(0);
elevateur.vitesse(0);
pince.x =false;
}