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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25
src/main/java/frc/robot/commands/Elevateur/L2.java
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@ -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);
}
}