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 2025-02-26 19:23:34 -05:00
commit b947c93ab7
3 changed files with 11 additions and 9 deletions
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16
src/main/java/frc/robot/RobotContainer.java
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@ -96,27 +96,29 @@ public class RobotContainer {
NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie)); NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
} }
private void configureBindings() { private void configureBindings() {
// Elevateur manuel
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()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward) drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left) .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left) .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
) )
); );
// Elevateur manuel
drivetrain.registerTelemetry(logger::telemeterize); drivetrain.registerTelemetry(logger::telemeterize);
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2)); elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1));
}, elevateur)); }, elevateur));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2)); pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
}, pince)); }, pince));
// reset the field-centric heading on left bumper press
// manette1 // manette1
// reset the field-centric heading on left bumper press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric())); manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.a().whileTrue(new Depart(elevateur, pince)); manette1.a().whileTrue(new Depart(elevateur, pince));
manette1.b().whileTrue(new L2(elevateur,pince)); manette1.b().whileTrue(new L2(elevateur,pince));

2
src/main/java/frc/robot/commands/ElevateurManuel.java
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@ -31,7 +31,7 @@ public class ElevateurManuel extends Command {
if(elevateur.limit2()==true){ if(elevateur.limit2()==true){
elevateur.vitesse(0); elevateur.vitesse(0);
} }
elevateur.vitesse(doubleSupplier.getAsDouble()/7); elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

2
src/main/java/frc/robot/commands/PinceManuel.java
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@ -32,7 +32,7 @@ public class PinceManuel extends Command {
pince.pivote(0); pince.pivote(0);
} }
else{ else{
pince.pivote(x.getAsDouble()); pince.pivote(x.getAsDouble()/3.5);
} }
} }