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requin

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This commit is contained in:
Antoine PerreaultE
2025-02-19 17:21:37 -05:00
parent eaa14fb1b1
commit dc36eea320
6 changed files with 44 additions and 43 deletions
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39
src/main/java/frc/robot/commands/BalayeuseAlgue.java
View File

@ -13,10 +13,10 @@ public class BalayeuseAlgue extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseAlgue(Requin requin,Bougie bougie) {
public BalayeuseAlgue(Requin requin) {
this.requin = requin;
this.bougie =bougie;
addRequirements(requin, bougie);
addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -27,24 +27,25 @@ 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){
requin.rotationer(0);
if(requin.stop()){
requin.balaye(0);
bougie.Vert();
}
else{
requin.balaye(0.5);
}
}
else if(requin.encodeur()>=510){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
// if(requin.encodeur()>=500 && requin.encodeur()<=510){
// requin.rotationer(0);
// if(requin.stop()){
// requin.balaye(0);
// bougie.Vert();
// }
// else{
requin.balaye(0.5);
// }
// }
// else if(requin.encodeur()>=510){
// requin.rotationer(0.5);
// }
// else{
// requin.rotationer(-0.5);
// }
}
}
// Called once the command ends or is interrupted.
@Override

34
src/main/java/frc/robot/commands/BalayeuseCoral.java
View File

@ -13,10 +13,10 @@ public class BalayeuseCoral extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseCoral(Requin requin,Bougie bougie) {
public BalayeuseCoral(Requin requin) {
this.requin = requin;
this.bougie = bougie;
addRequirements(requin,bougie);
addRequirements(requin);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -27,24 +27,24 @@ 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){
requin.rotationer(0);
if(requin.stop()){
requin.balaye(0);
bougie.Vert();
}
else{
// if(requin.encodeur()>=100 && requin.encodeur()<=110){
// requin.rotationer(0);
// if(requin.stop()){
requin.balaye(0.5);
// bougie.Vert();
}
}
else if(requin.encodeur()>=110){
requin.rotationer(0.5);
}
else{
requin.rotationer(-0.5);
}
// else{
// requin.balaye(0.5);
// }
// }
// else if(requin.encodeur()>=110){
// requin.rotationer(0.5);
// }
// else{
// requin.rotationer(-0.5);
// }
}
// }
// Called once the command ends or is interrupted.
@Override