PLS5618/Reefscape-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

modif

Browse Source
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
src/main/java/frc/robot
RobotContainer.java
commands
ElevateurManuel.java

10
src/main/java/frc/robot/RobotContainer.java

@ -100,20 +100,20 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward) drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*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) .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*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) .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
) )
); );
// Elevateur manuel // Elevateur manuel
drivetrain.registerTelemetry(logger::telemeterize); drivetrain.registerTelemetry(logger::telemeterize);
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1)); elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1));
}, elevateur)); }, elevateur));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1)); pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
}, pince)); }, pince));

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

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