PLS5618/Reefscape-2025
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amperage

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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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2
src/main/java/frc/robot/commands/Elevateur/StationPince.java
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@ -45,7 +45,7 @@ public class StationPince extends Command {
if(pince.position()){
pince.pivote(0);
}
}
}
else{
pince.aspirecoral(0.1);
}

34
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
View File

@ -27,24 +27,30 @@ public class BalayeuseAlgue extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(requin.encodeur()<=715 && requin.encodeur()>=670)
{
requin.rotationer(0);
if(requin.amp()> 60){
requin.balaye(0);
bougie.Vert();
if(requin.amp()>=12){
requin.xRequin = true;
}
else
{
requin.balaye(-0.5);
}
}
else if(requin.encodeur()>=700){
requin.rotationer(-0.5);
if(requin.xRequin){
bougie.Vert();
requin.balaye(0);
}
else{
requin.rotationer(0.5);
requin.balaye(.2);
}
if(!requin.xRequin){
if(requin.encodeur()>=700){
requin.rotationer(-0.5);
}
else{
requin.rotationer(0.5);
}
if(requin.encodeur()<=715 && requin.encodeur()>=670){
requin.rotationer(0);
}
}
}