PLS5618/Reefscape-2025
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samuel desharnais
2025-11-05 18:27:48 -05:00
parent 80e1f22ea3
commit ba7768a188
3 changed files with 36 additions and 10 deletions
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2
src/main/java/frc/robot/commands/Pince/Algue_inspire.java
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@@ -31,7 +31,7 @@ public class Algue_inspire extends Command {
@Override @Override
public void execute() { public void execute() {
if(pince.emperagealgue()>60){ if(pince.emperagealgue()>90){
pince.aspirealgue(0); pince.aspirealgue(0);
bougie.Bleu(); bougie.Bleu();
} }

2
src/main/java/frc/robot/commands/Pince/CoralExpire.java
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@@ -32,7 +32,7 @@ public class CoralExpire extends Command {
} }
*/ */
pince.aspirecoral(-.5); pince.aspirecoral(-.5);
bougie.Jaune(); bougie.Rouge();
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

42
src/main/java/frc/robot/subsystems/Bougie.java
View File

@@ -14,20 +14,46 @@ public class Bougie extends SubsystemBase {
CANdle candle = new CANdle(23); CANdle candle = new CANdle(23);
CANdleConfiguration config = new CANdleConfiguration(); CANdleConfiguration config = new CANdleConfiguration();
RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68);
int led = 16;
int led2 = 8;
boolean x =true;
/** Creates a new Bougie. */ /** Creates a new Bougie. */
public Bougie() { public Bougie() {
config.brightnessScalar = 0.5; config.brightnessScalar = 0.5;
candle.configAllSettings(config); candle.configAllSettings(config);
} }
public void Rouge() { public void Rouge() {
candle.setLEDs(255, 0, 0,0,8,8); if(x){
candle.setLEDs(255, 0, 0,0,24,8); candle.setLEDs(255, 0, 0,0,led,8);
candle.setLEDs(255, 0, 0,0,40,8); led++;
candle.setLEDs(255, 0, 0,0,56,8); candle.setLEDs(0, 0, 0,0,led2,8);
candle.setLEDs(255, 0, 0,0,72,8); led2++;
candle.setLEDs(255, 0, 0,0,88,8); System.out.println("led monte");
candle.setLEDs(255, 0, 0,0,104,8); System.out.println(led);
candle.setLEDs(255, 0, 0,0,120,8); if(led>=68){
x=false;
System.out.println("true");
System.out.println(x);
}
}
if(!x){
candle.setLEDs(255, 0, 0,0,led2,8);
led2--;
candle.setLEDs(0, 0, 0,0,led,8);
led--;
System.out.println("leds descendent");
if(led==15){
x=true;
System.out.println("false");
}}
// candle.setLEDs(255, 0, 0,0,24,8);
// candle.setLEDs(255, 0, 0,0,40,8);
// candle.setLEDs(255, 0, 0,0,56,8);
// candle.setLEDs(255, 0, 0,0,72,8);
// candle.setLEDs(255, 0, 0,0,88,8);
// candle.setLEDs(255, 0, 0,0,104,8);
// candle.setLEDs(255, 0, 0,0,120,8);
} }
public void Vert() { public void Vert() {
candle.setLEDs(0, 255, 0,0,8,8); candle.setLEDs(0, 255, 0,0,8,8);