PLS5618/Reefscape-2025
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pince et elevateur

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This commit is contained in:
Antoine PerreaultE
2025-01-29 18:43:31 -05:00
parent c81f118058
commit eece0f47fa
1 changed files with 9 additions and 0 deletions
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9
src/main/java/frc/robot/command/Depart.java
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@@ -10,8 +10,10 @@ import frc.robot.subsystems.Elevateur;
/* 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 */ /* 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 Depart extends Command { public class Depart extends Command {
private Elevateur elevateur; private Elevateur elevateur;
private Pince pince;
/** Creates a new L2. */ /** Creates a new L2. */
public Depart(Elevateur elevateur) { public Depart(Elevateur elevateur) {
this.elevateur = elevateur; this.elevateur = elevateur;
addRequirements(elevateur); addRequirements(elevateur);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
@@ -31,6 +33,13 @@ public class Depart extends Command {
else{ else{
elevateur.vitesse(-.5); elevateur.vitesse(-.5);
} }
if(pince.position()==true){
pince.pivote(0);
pince.reset();
}
else{
pince.pivote(.5);
}
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.