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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36
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
View File

@@ -27,31 +27,28 @@ public class BalayeuseAlgue extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.amp()>=12){
requin.xRequin = true;
}
double cibleMin = 700;
double cibleMax = 900;
if(requin.amp()>=78.2){
requin.xRequin = true;
}
if(requin.xRequin){
bougie.Vert();
requin.balaye(0);
}
else{
requin.balaye(.2);
}
if(!requin.xRequin){
if(requin.encodeur()>=700){
requin.rotationer(-0.5);
}
if(!requin.xRequin){
if(requin.encodeur()<=cibleMax && requin.encodeur()>=cibleMin){
requin.rotationer(0);
requin.balaye(-0.4);
}
else if(requin.encodeur()>=cibleMax){
requin.rotationer(-0.1);
}
else{
requin.rotationer(0.5);
requin.rotationer(0.3);
}
if(requin.encodeur()<=715 && requin.encodeur()>=670){
requin.rotationer(0);
}
}
}
}
// Called once the command ends or is interrupted.
@@ -59,6 +56,7 @@ public class BalayeuseAlgue extends Command {
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
requin.xRequin = false;
}
// Returns true when the command should end.

25
src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
View File

@@ -27,27 +27,27 @@ public class BalayeuseCoral extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()<=1200 && requin.encodeur()>=1025){
requin.rotationer(0);
if(requin.amp()>=12){
double cibleMax = 1100;
double cibleMin = 900;
if(requin.amp()>=78.2){
requin.xRequin = true;
}
if(requin.xRequin){
requin.balaye(0);
bougie.Vert();
}
if (!requin.xRequin) {
if(requin.encodeur()<=cibleMax && requin.encodeur()>=cibleMin){
requin.rotationer(0);
requin.balaye(0.7);
}
else if(requin.encodeur()>=cibleMax){
requin.rotationer(-0.5);
}
else{
requin.balaye(0.5);
requin.rotationer(0.5);
}
}
if (!requin.xRequin) {
if(requin.encodeur()>=1200){
requin.rotationer(-0.5);
}
else{
requin.rotationer(0.5);
}
}
}
// Called once the command ends or is interrupted.
@@ -55,6 +55,7 @@ public class BalayeuseCoral extends Command {
public void end(boolean interrupted) {
requin.rotationer(0);
requin.balaye(0);
requin.xRequin = false;
}
// Returns true when the command should end.

12
src/main/java/frc/robot/commands/requin/ExpireCorail.java
View File

@@ -28,14 +28,14 @@ public class ExpireCorail extends Command {
@Override
public void execute() {
if(requin.amp()> 60){
requin.balaye(-0.5);
requin.balaye(-0.4);
}
else
{
bougie.Rouge();
requin.balaye(-0.5);
}
else
{
bougie.Rouge();
requin.balaye(-0.4);
}
}
// Called once the command ends or is interrupted.
@Override

6
src/main/java/frc/robot/commands/requin/L1Requin.java
View File

@@ -27,11 +27,11 @@ public class L1Requin extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()<=645 && requin.encodeur()>=600){
bougie.Bleu();
if(requin.encodeur()<=530 && requin.encodeur()>=430){
requin.rotationer(0);
}
else if(requin.encodeur()>=645){
else if(requin.encodeur()>=530){
requin.rotationer(-0.5);
}
else{

4
src/main/java/frc/robot/commands/requin/exspire.java
View File

@@ -31,11 +31,11 @@ public class exspire extends Command {
public void execute() {
if(requin.amp()> 15)
{
requin.balaye(0.5);
requin.balaye(0.4);
}
else{
bougie.Rouge();
requin.balaye(0.5);
requin.balaye(0.4);
}
}