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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23
src/main/java/frc/robot/commands/Elevateur/L4.java
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@@ -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.