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limit avec pince manuel

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This commit is contained in:
Antoine PerreaultE 2025-02-26 17:26:31 -05:00
parent 9f83b61c46
commit e58cdf0b5b
2 changed files with 12 additions and 12 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -38,7 +38,7 @@ public class RobotContainer {
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
PinceManuel pinceManuel = new PinceManuel(pince);
PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
public RobotContainer() {
configureBindings();
@ -66,8 +66,6 @@ public class RobotContainer {
manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
//manette2
manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
manette2.povUp().whileTrue(new PinceManuel(pince));
manette2.povDown().whileTrue(new PinceManuel2(pince));
manette2.a().whileTrue(new CorailAspir(pince));
manette2.b().whileTrue(new CoralExpire(pince, bougie));
manette2.povLeft().whileTrue(new Algue1Test(pince));

20
src/main/java/frc/robot/commands/PinceManuel.java
View File

@ -3,17 +3,19 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Pince;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class PinceManuel extends Command {
private Pince pince;
private DoubleSupplier x;
/** Creates a new PinceManuel. */
public PinceManuel(Pince pince
//, DoubleSupplier doubleSupplier
) {
public PinceManuel(Pince pince, DoubleSupplier x) {
this.pince = pince;
this.x = x;
//this.doubleSupplier = doubleSupplier;
addRequirements(pince);
// Use addRequirements() here to declare subsystem dependencies.
@ -26,12 +28,12 @@ public class PinceManuel extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
// if(pince.position()){
// pince.pivote(0);
// }
// else{
pince.pivote(0.2);
// }
if(pince.position()){
pince.pivote(0);
}
else{
pince.pivote(x.getAsDouble());
}
}
// Called once the command ends or is interrupted.