PLS5618/Reefscape-2025
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base: PLS5618:b0e09988a30a6f693825aebe466b95322330e03b
Branches Tags
PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led
..
compare: PLS5618:b312854f0b8d4fdb9cc84dd427c9ebcbd1bacaac
Branches Tags
PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

2 Commits
b0e09988a3 ... b312854f0b

Author SHA1 Message Date
EdwardFaucher
b312854f0b Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025 2025-02-27 19:04:22 -05:00
EdwardFaucher
4bba37215f joysticks mieux^3 2025-02-27 19:03:26 -05:00
1 changed files with 6 additions and 11 deletions
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15
src/main/java/frc/robot/RobotContainer.java
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@ -95,25 +95,20 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward) drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left) .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left) .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
) )
); );
// Elevateur manuel // Elevateur manuel
drivetrain.registerTelemetry(logger::telemeterize); drivetrain.registerTelemetry(logger::telemeterize);
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
if(elevateur.limit2()){ elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
elevateur.vitesse(0);
}
else{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftX(), 0.1));
}
}, elevateur)); }, elevateur));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1)); pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
}, pince)); }, pince));