63 lines
1.7 KiB
Java
63 lines
1.7 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.command;
|
|
|
|
import edu.wpi.first.wpilibj2.command.Command;
|
|
import frc.robot.subsystems.Elevateur;
|
|
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 L2 extends Command {
|
|
private Elevateur elevateur;
|
|
private Pince pince;
|
|
/** Creates a new L2. */
|
|
public L2(Elevateur elevateur,Pince pince) {
|
|
this.elevateur = elevateur;
|
|
this.pince = pince;
|
|
addRequirements(elevateur,pince);
|
|
// Use addRequirements() here to declare subsystem dependencies.
|
|
}
|
|
|
|
// Called when the command is initially scheduled.
|
|
@Override
|
|
public void initialize() {}
|
|
|
|
// Called every time the scheduler runs while the command is scheduled.
|
|
@Override
|
|
public void execute() {
|
|
if(elevateur.position()>=500 && elevateur.position()<=510){
|
|
elevateur.vitesse(0);
|
|
}
|
|
else if(elevateur.position()>=510){
|
|
elevateur.vitesse(-0.3);
|
|
}
|
|
else{
|
|
elevateur.vitesse(.3);
|
|
}
|
|
if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
|
|
pince.pivote(0);
|
|
}
|
|
else if(pince.encodeurpivot()>=510){
|
|
pince.pivote(-0.3);
|
|
}
|
|
else{
|
|
pince.pivote(0.3);
|
|
}
|
|
}
|
|
|
|
// Called once the command ends or is interrupted.
|
|
@Override
|
|
public void end(boolean interrupted) {
|
|
elevateur.vitesse(0);
|
|
pince.pivote(0);
|
|
}
|
|
|
|
// Returns true when the command should end.
|
|
@Override
|
|
public boolean isFinished() {
|
|
return false;
|
|
}
|
|
}
|