PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-01 13:53:13 -05:00
parent 30b0ad39f0
commit d1f9d55c3a
19 changed files with 95 additions and 94 deletions
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2
src/main/java/frc/robot/commands/Elevateur/Depart.java
View File

@@ -30,7 +30,7 @@ public class Depart extends Command {
elevateur.reset();
}
else{
elevateur.vitesse(.5);
elevateur.vitesse(.3);
}
}

25
src/main/java/frc/robot/commands/Elevateur/L2.java
View File

@@ -26,24 +26,15 @@ public class L2 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL2bas() && elevateur.position()>=elevateur.encodeurelevateurL2haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=elevateur.encodeurelevateurL2bas()){
elevateur.vitesse(-0.2);
}
else{
elevateur.vitesse(.2);
// }
// if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
// pince.pivote(0);
if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=510){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
}
else if(pince.encodeurpivot()>=16){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}

22
src/main/java/frc/robot/commands/Elevateur/L3.java
View File

@@ -32,20 +32,20 @@ public class L3 extends Command {
elevateur.vitesse(0);
}
else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
elevateur.vitesse(-0.2);
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.2);
elevateur.vitesse(0.5);
}
// if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=710){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
// }
if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=16){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}
// Called once the command ends or is interrupted.

23
src/main/java/frc/robot/commands/Elevateur/L4.java
View File

@@ -29,22 +29,23 @@ public class L4 extends Command {
public void execute() {
if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
elevateur.vitesse(0);
}
else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
elevateur.vitesse(-0.2);
elevateur.vitesse(-0.5);
}
else{
elevateur.vitesse(.2);
elevateur.vitesse(.5);
}
// if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
// pince.pivote(0);
// }
// else if(pince.encodeurpivot()>=810){
// pince.pivote(0.2);
// }
// else{
// pince.pivote(-0.2);
// }
if(pince.encodeurpivot()>=21.76 && pince.encodeurpivot()<=22.3){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=22.3){
pince.pivote(-0.1);
}
else{
pince.pivote(0.1);
}
}
// Called once the command ends or is interrupted.

17
src/main/java/frc/robot/commands/Elevateur/StationPince.java
View File

@@ -31,23 +31,14 @@ public class StationPince extends Command {
@Override
public void execute() {
pince.aspirecoral(0.5);
if(pince.encodeurpivot()<=elevateur.encodeurelevateurstationbas() && pince.encodeurpivot()>=elevateur.encodeurelevateurstationhaut()){
if(pince.encodeurpivot()<=9.8 && pince.encodeurpivot()>=12){
pince.pivote(0);
}
else if(pince.encodeurpivot()>=elevateur.encodeurelevateurstationbas()){
pince.pivote(0.2);
else if(pince.encodeurpivot()>=9.8){
pince.pivote(-0.1);
}
else{
pince.pivote(-0.2);
}
if(elevateur.position()>=400 && elevateur.position()<=410){
elevateur.vitesse(0);
}
else if(elevateur.position()>=410){
elevateur.vitesse(0.3);
}
else{
elevateur.vitesse(-.3);
pince.pivote(0.1);
}
}

4
src/main/java/frc/robot/commands/Limelight/AprilTag3G.java
View File

@@ -48,10 +48,10 @@ public class AprilTag3G extends Command {
double a = limelight3g.getX();
if(limelight3g.getV() == true){
drivetrain.setControl(drive.
withRotationalRate(-a/5).
withRotationalRate(-a/7).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/5);
System.out.println(a/7);
}
else{
drivetrain.setControl(drive.

9
src/main/java/frc/robot/commands/Pince/CorailAspir.java
View File

@@ -27,11 +27,14 @@ public class CorailAspir extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(pince.emperagecoral() > 60){
if(pince.emperagecoral() > 15){
pince.aspirecoral(0);
bougie.Bleu();
}
pince.aspirecoral(0.5);
else{
pince.aspirecoral(0.5);
}
}
// Called once the command ends or is interrupted.
@@ -43,6 +46,6 @@ public class CorailAspir extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
return pince.emperagecoral()>13;
}
}

4
src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
View File

@@ -23,10 +23,10 @@ public class GrimpeurBas extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
if(grimpeur.encodeur()>=-43.3 && grimpeur.encodeur()<=-42.5){
grimpeur.grimpe(0);
}
else if(grimpeur.encodeur()>=-38.5){
else if(grimpeur.encodeur()>=-43.3){
grimpeur.grimpe(-0.5);
}
else{grimpeur.grimpe(0.5);

6
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
View File

@@ -27,7 +27,7 @@ public class BalayeuseAlgue extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()>=500 && requin.encodeur()<=510)
if(requin.encodeur()<=715 && requin.encodeur()>=700)
{
requin.rotationer(0);
if(requin.amp()> 60){
@@ -36,10 +36,10 @@ public class BalayeuseAlgue extends Command {
}
else
{
requin.balaye(0.5);
requin.balaye(-0.5);
}
}
else if(requin.encodeur()>=510){
else if(requin.encodeur()>=700){
requin.rotationer(0.5);
}
else{

2
src/main/java/frc/robot/commands/requin/BalayeuseBas.java
View File

@@ -24,7 +24,7 @@ public class BalayeuseBas extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
requin.rotationer(-0.5);
requin.rotationer(0.5);
}
// Called once the command ends or is interrupted.
@Override

10
src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
View File

@@ -27,7 +27,7 @@ public class BalayeuseCoral extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()>=100 && requin.encodeur()<=110){
if(requin.encodeur()<=1200 && requin.encodeur()>=1050){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(0);
@@ -36,18 +36,18 @@ public class BalayeuseCoral extends Command {
requin.rotationer(0);
}
else{
requin.rotationer(0.5);
requin.rotationer(-0.5);
}
}
else{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=110){
requin.rotationer(0.5);
else if(requin.encodeur()>=1200){
requin.rotationer(-0.5);
}
else{
requin.rotationer(-0.5);
requin.rotationer(0.5);
}
}

8
src/main/java/frc/robot/commands/requin/L1Requin.java
View File

@@ -28,7 +28,7 @@ public class L1Requin extends Command {
@Override
public void execute() {
if(requin.encodeur()>=800 && requin.encodeur()<=810){
if(requin.encodeur()<=645 && requin.encodeur()>=600){
requin.rotationer(0);
if(requin.amp()>60){
requin.balaye(-0.5);
@@ -38,11 +38,11 @@ public class L1Requin extends Command {
bougie.Rouge();
}
}
else if(requin.encodeur()>=810){
requin.rotationer(0.5);
else if(requin.encodeur()>=645){
requin.rotationer(-0.5);
}
else{
requin.rotationer(-0.5);
requin.rotationer(0.5);
}

2
src/main/java/frc/robot/commands/requin/aspire.java
View File

@@ -33,7 +33,7 @@ public class aspire extends Command {
}
else
{
requin.balaye(0.5);
requin.balaye(-0.5);
}
}

4
src/main/java/frc/robot/commands/requin/exspire.java
View File

@@ -30,12 +30,12 @@ public class exspire extends Command {
@Override
public void execute() {
if(requin.amp()> 60){
requin.balaye(-0.5);
requin.balaye(0.5);
}
else
{
bougie.Rouge();
requin.balaye(-0.5);
requin.balaye(0.5);
}
}