PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE 2025-02-27 17:53:14 -05:00
parent 6535047346
commit b31ac996ea
2 changed files with 6 additions and 8 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -100,20 +100,20 @@ public class RobotContainer {
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
)
);
// Elevateur manuel
drivetrain.registerTelemetry(logger::telemeterize);
elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1));
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1));
}, elevateur));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
}, pince));

4
src/main/java/frc/robot/commands/ElevateurManuel.java
View File

@ -28,9 +28,7 @@ public class ElevateurManuel extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.limit2()==true){
elevateur.vitesse(0);
}
if (elevateur.limit2())
elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
}