PLS5618/Reefscape-2025
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dashboard mieux

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This commit is contained in:
samuel desharnais
2025-02-26 19:42:28 -05:00
parent 42fb45d2de
commit ff6d88d9df
4 changed files with 62 additions and 8 deletions
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17
src/main/java/frc/robot/commands/L3.java
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@@ -4,6 +4,9 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Elevateur;
@@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
public class L3 extends Command {
private Elevateur elevateur;
private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur haut L3").subscribe(-2.9);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur bas L3").subscribe(-3);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L3").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L3").subscribe(-0.9);
/** Creates a new L2. */
public L3(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(elevateur.position()<=-2.9 && elevateur.position()>=-3){
double encodeurHaute = encodeur1.get();
double encodeurBase = encodeur2.get();
double encodeurbase = encodeur3.get();
double encodeurhaute = encodeur4.get();
if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
elevateur.vitesse(0);
}
else if(elevateur.position()>=-2.9){
else if(elevateur.position()>=-encodeurHaute){
elevateur.vitesse(-0.2);
}
else{