PLS5618/Reefscape-2025
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dashboard

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This commit is contained in:
Antoine PerreaultE
2025-02-22 15:21:04 -05:00
parent 0524ec6355
commit f9d09106a4
6 changed files with 21 additions and 41 deletions
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13
src/main/java/frc/robot/commands/BalayeuseAlgue.java
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@ -13,7 +13,7 @@ public class BalayeuseAlgue extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseAlgue(Requin requin) {
public BalayeuseAlgue(Requin requin, Bougie bougie) {
this.requin = requin;
this.bougie =bougie;
addRequirements(requin,bougie);
@ -27,16 +27,17 @@ 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){
if(requin.encodeur()>=500 && requin.encodeur()<=510)
{
requin.rotationer(0);
if(requin.stop()){
if(requin.amp()> 60){
requin.balaye(0);
bougie.Vert();
}
else{
else
{
requin.balaye(0.5);
}
}
}
else if(requin.encodeur()>=510){
requin.rotationer(0.5);

4
src/main/java/frc/robot/commands/BalayeuseCoral.java
View File

@ -13,7 +13,7 @@ public class BalayeuseCoral extends Command {
private Requin requin;
private Bougie bougie;
/** Creates a new Balayeuse. */
public BalayeuseCoral(Requin requin) {
public BalayeuseCoral(Requin requin, Bougie bougie) {
this.requin = requin;
this.bougie = bougie;
addRequirements(requin,bougie);
@ -29,7 +29,7 @@ public class BalayeuseCoral extends Command {
public void execute() {
if(requin.encodeur()>=100 && requin.encodeur()<=110){
requin.rotationer(0);
if(requin.amp()>8){
if(requin.amp()>60){
requin.balaye(0);
bougie.Vert();
if(requin.enHaut()){