PLS5618/betabot-2023
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This commit is contained in:
EdwardFaucher 2022-12-06 17:54:24 -05:00
parent 887c4e2d95
commit 999eaae0a0
2 changed files with 8 additions and 19 deletions
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18
src/main/java/frc/robot/RobotContainer.java
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@ -92,21 +92,7 @@ public class RobotContainer {
*/ */
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
// An ExampleCommand will run in autonomous // An ExampleCommand will run in autonomous
return null; return new Avancer(basePilotable, SmartDashboard.getNumber("AvancerVit",0)).withTimeout(SmartDashboard.getNumber("avancer", 1));
/**(
new Reculer(basePilotable).withTimeout(SmartDashboard.getNumber("temps reculer", 1)),
new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche1",1)),
new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avencer1",1)),
new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite1",1)),
new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer2",1)),
new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche2",1)),
new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer3",1)),
new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite 2",1)),
new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer4",1)),
new DesactiverBlockeur(poussoir).withTimeout(SmartDashboard.getNumber("temps du b1",0.8)),
new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser1",1)),
new Activershaker(pistonshaker).withTimeout(SmartDashboard.getNumber("temps du b2",1)),
new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser2",1))); */
} }
} }

9
src/main/java/frc/robot/commands/Avancer.java
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@ -9,9 +9,11 @@ import frc.robot.subsystems.BasePilotable;
public class Avancer extends CommandBase { public class Avancer extends CommandBase {
private BasePilotable basePilotable; private BasePilotable basePilotable;
private double vitesse;
/** Creates a new Avancer. */ /** Creates a new Avancer. */
public Avancer(BasePilotable basePilotable) { public Avancer(BasePilotable basePilotable, double vitesse) {
basePilotable = new BasePilotable(); this.basePilotable = basePilotable;
this.vitesse = vitesse;
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable); addRequirements(basePilotable);
} }
@ -23,7 +25,8 @@ public class Avancer extends CommandBase {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
basePilotable.drive(0.5, 0.5, 0); basePilotable.drive(vitesse, 0, 0);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.