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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17
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@@ -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);
}
}