PLS5618/pratique-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

limitswitch

Browse Source
This commit is contained in:
EdwardFaucher 2024-11-13 19:24:14 -05:00
parent 75c59ddbe5
commit a023213a18
3 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/main/java/frc/robot/Commands/FollowAprilTag.java
View File

@ -27,10 +27,13 @@ public class FollowAprilTag extends Command {
@Override @Override
public void execute() { public void execute() {
if (enlignement.getv()==1) if (enlignement.getv()==1)
{ {
lanceur.tourelRotation(0,0, enlignement.getx()/30); lanceur.tourelRotation(0,0, enlignement.getx()/30);
} }
if (lanceur.limitswitch1() || lanceur.limitswitch2()){
lanceur.lance(0);}
else else
{ {
lanceur.tourelRotation(0, 0, 0); lanceur.tourelRotation(0, 0, 0);

2
src/main/java/frc/robot/Commands/Lancer.java
View File

@ -27,7 +27,9 @@ public class Lancer extends Command {
@Override @Override
public void execute() { public void execute() {
lanceur.lance(); lanceur.lance();
accumulateur.Petitlanceur(0.7);
accumulateur.desaccumule(0.2); accumulateur.desaccumule(0.2);
} }

2
src/main/java/frc/robot/RobotContainer.java
View File

@ -41,7 +41,7 @@ public class RobotContainer {
private void configureBindings() { private void configureBindings() {
manette.x().whileTrue(new Lancer(lanceur)); manette.x().whileTrue(new Lancer(lanceur,accumulateur));
manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur)); manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
manette.a().whileTrue(new Desaccumuler(accumulateur)); manette.a().whileTrue(new Desaccumuler(accumulateur));
} }