PLS5618/betabot-2024
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Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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This commit is contained in:
samuel desharnais 2023-12-04 18:59:44 -05:00
commit 5fc179a598
3 changed files with 8 additions and 13 deletions
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9
src/main/java/frc/robot/RobotContainer.java
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@ -74,10 +74,11 @@ public class RobotContainer {
}
public Command getAutonomousCommand() {
return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
return null;
/* new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
, new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
*/ }
}
}
/* return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
, new Force1(lanceur, accumulateur, force1), new Reculer(drive));*/

11
src/main/java/frc/robot/commands/Lancer.java
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@ -4,8 +4,6 @@
package frc.robot.commands;
import java.util.function.DoubleSupplier;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -13,14 +11,11 @@ import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import frc.robot.subsystems.Accumulateur;
import frc.robot.subsystems.Lanceur;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class Lancer extends ParallelCommandGroup {
private Lanceur lanceur;
private Accumulateur accumulateur;
/** Creates a new Force1. */
public Lancer(Lanceur lanceur,Accumulateur accumulateur,GenericEntry vitesse) {
this.lanceur = lanceur;
this.accumulateur = accumulateur;
@ -28,7 +23,7 @@ public class Lancer extends ParallelCommandGroup {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
addCommands(new Lancez(lanceur),
new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(1)))
,new AccAvancer(accumulateur),new AccReculer(accumulateur));
new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(0))),
new AccAvancer(accumulateur),new AccReculer(accumulateur));
}
}

1
src/main/java/frc/robot/commands/Lancez.java
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@ -5,7 +5,6 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Accumulateur;
import frc.robot.subsystems.Lanceur;
public class Lancez extends CommandBase {