PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE 2025-03-03 09:43:24 -05:00
parent 264bbd003f
commit e462e83f0e
2 changed files with 21 additions and 15 deletions
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26
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
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@ -27,24 +27,30 @@ public class BalayeuseAlgue extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(requin.encodeur()<=715 && requin.encodeur()>=670)
{ if(requin.amp()>=12){
requin.rotationer(0); requin.xRequin = true;
if(requin.amp()> 60){ }
requin.balaye(0); if(requin.xRequin){
bougie.Vert(); bougie.Vert();
requin.balaye(0);
} }
else else{
{ requin.balaye(.2);
requin.balaye(-0.5);
} }
} if(!requin.xRequin){
else if(requin.encodeur()>=700){ if(requin.encodeur()>=700){
requin.rotationer(-0.5); requin.rotationer(-0.5);
} }
else{ else{
requin.rotationer(0.5); requin.rotationer(0.5);
} }
if(requin.encodeur()<=715 && requin.encodeur()>=670){
requin.rotationer(0);
}
}
} }