78 lines
2.4 KiB
Java
78 lines
2.4 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands.Elevateur;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.math.controller.PIDController;
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import frc.robot.subsystems.Elevateur;
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import frc.robot.subsystems.Pince;
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/* 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 */
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public class L3 extends Command {
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private Elevateur elevateur;
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private Pince pince;
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private PIDController pidController1;
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private PIDController pidController2;
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private double output;
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private double output2;
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/** Creates a new L2. */
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public L3(Elevateur elevateur,Pince pince) {
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this.elevateur = elevateur;
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this.pince = pince;
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addRequirements(elevateur,pince);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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pidController1 = new PIDController(0.3, 0.04,0);
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pidController2 = new PIDController(0.025, 0.00125,0.001, 0.01);
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pidController1.reset();
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pidController2.reset();
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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output = pidController1.calculate(elevateur.position(),-3);
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output2 = pidController2.calculate(pince.encodeurpivot(),20);
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elevateur.vitesse(output);
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pince.pivote(output2);
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// if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
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// elevateur.vitesse(0);
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// pince.pivote(-0.15);
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// if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
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// pince.pivote(0);
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// }
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// else if(pince.encodeurpivot()>=20){
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// pince.pivote(-0.15);
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// }
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// else{
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// pince.pivote(0.15);
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// }
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// }
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// else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
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// elevateur.vitesse(-0.7);
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// }
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// else{
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// elevateur.vitesse(0.25);
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// }
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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elevateur.vitesse(0);
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pince.pivote(0);
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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