PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Antoine PerreaultE 2025-02-27 18:33:58 -05:00
commit b676cf353f
2 changed files with 6 additions and 2 deletions
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1
src/main/java/frc/robot/commands/Elevateur/L2.java
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@ -15,6 +15,7 @@ import frc.robot.subsystems.Pince;
public class L2 extends Command { public class L2 extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince; private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault(); NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur"); NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1); private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1);

5
src/main/java/frc/robot/commands/Elevateur/L4.java
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@ -5,6 +5,7 @@
package frc.robot.commands.Elevateur; package frc.robot.commands.Elevateur;
import edu.wpi.first.networktables.DoubleSubscriber; import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.DoubleTopic;
import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
@ -18,7 +19,8 @@ public class L4 extends Command {
private Pince pince; private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault(); NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur"); NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurbasL4").subscribe(-6.4); private DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5); private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1); private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9); private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
@ -26,6 +28,7 @@ NetworkTableInstance networktable = NetworkTableInstance.getDefault();
public L4(Elevateur elevateur,Pince pince) { public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; this.pince = pince;
encodeur1topic.setPersistent(true);
addRequirements(elevateur,pince); addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }