PLS5618/Reefscape-2025
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dashboard requin + nettoyage code

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Antoine PerreaultE
2025-02-25 18:08:14 -05:00
parent 1157bdf76a
commit cdd304f9e9
2 changed files with 7 additions and 11 deletions
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11
src/main/java/frc/robot/RobotContainer.java
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@@ -15,19 +15,20 @@ import frc.robot.commands.L1Requin;
import frc.robot.subsystems.Requin;
import frc.robot.subsystems.Bougie;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
Requin requin = new Requin();
Bougie bougie = new Bougie();
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
Requin requin = new Requin();
Bougie bougie = new Bougie();
public RobotContainer() {
configureBindings();
}
private void configureBindings() {
manette2.a().whileTrue(new BalayeuseBas(requin));
manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
manette2.y().whileTrue(new L1Requin(requin,bougie));
manette2.a().whileTrue(new BalayeuseBas(requin));
manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
}

7
src/main/java/frc/robot/subsystems/Requin.java
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@@ -7,13 +7,9 @@ package frc.robot.subsystems;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Requin extends SubsystemBase {
@@ -22,11 +18,10 @@ public class Requin extends SubsystemBase {
public Requin() {
teb.addBoolean("limit requin", this::enHaut);
}
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(1);
public void balaye(double vitesse){
balaye.set(vitesse);