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limitswitch

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

@ -27,10 +27,13 @@ public class FollowAprilTag extends Command {
@Override
public void execute() {
if (enlignement.getv()==1)
{
lanceur.tourelRotation(0,0, enlignement.getx()/30);
}
if (lanceur.limitswitch1() || lanceur.limitswitch2()){
lanceur.lance(0);}
else
{
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
public void execute() {
lanceur.lance();
accumulateur.Petitlanceur(0.7);
accumulateur.desaccumule(0.2);
}

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

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