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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
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@@ -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.