PLS5618/Reefscape-2025
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bougie dans station pince

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This commit is contained in:
samuel desharnais 2025-03-01 15:10:43 -05:00
parent 94af67a895
commit b6bd4d9319
2 changed files with 14 additions and 5 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -97,7 +97,7 @@ public class RobotContainer {
SmartDashboard.putData("Auto Mode", autoChooser); SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings(); configureBindings();
NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null)); NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
NamedCommands.registerCommand("Station",new StationPince(pince, elevateur)); NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
NamedCommands.registerCommand("L4", new L4(elevateur, pince)); NamedCommands.registerCommand("L4", new L4(elevateur, pince));
NamedCommands.registerCommand("L3", new L3(elevateur, pince)); NamedCommands.registerCommand("L3", new L3(elevateur, pince));
NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie)); NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
@ -121,7 +121,7 @@ public class RobotContainer {
//pince //pince
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie)); manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur)); manette1.rightBumper().whileTrue(new StationPince(pince, elevateur,bougie));
manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie)); manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie)); manette1.povRight().whileTrue(new CoralExpire(pince, bougie));

15
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@ -7,6 +7,7 @@ package frc.robot.commands.Elevateur;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Elevateur; import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
@ -15,11 +16,13 @@ public class StationPince extends Command {
ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardTab teb = Shuffleboard.getTab("teb");
private Pince pince; private Pince pince;
private Elevateur elevateur; private Elevateur elevateur;
private Bougie bougie;
/** Creates a new L2Pince. */ /** Creates a new L2Pince. */
public StationPince(Pince pince,Elevateur elevateur) { public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
this.elevateur = elevateur; this.elevateur = elevateur;
this.pince = pince; this.pince = pince;
addRequirements(pince,elevateur); this.bougie = bougie;
addRequirements(pince,elevateur, bougie);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -30,7 +33,13 @@ public class StationPince 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() {
pince.aspirecoral(0.5); if(pince.emperagecoral() > 60){
pince.aspirecoral(0);bougie.Bleu();
}
else{
pince.aspirecoral(0.5);
}
if(pince.encodeurpivot()<=9.8 && pince.encodeurpivot()>=12){ if(pince.encodeurpivot()<=9.8 && pince.encodeurpivot()>=12){
pince.pivote(0); pince.pivote(0);
} }