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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4
src/main/java/frc/robot/subsystems/Pince.java
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@ -17,6 +17,8 @@ public class Pince extends SubsystemBase {
public Pince() {
teb.addBoolean("limit pince",this::position);
teb.addDouble("encodeur pince", this::encodeurpivot);
teb.addDouble("amperage corail", this::emperagecoral);
teb.addDouble("amperage algue", this::emperagealgue);
}
final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
@ -30,7 +32,7 @@ public void aspirecoral(double vitesse){
}
public void pivote(double vitesse){
if (position()) {
if (vitesse > 0) {
if (vitesse < 0) {
pivoti.set(0);
}
else{