PLS5618/pratique-2025
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touche

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This commit is contained in:
samuel desharnais 2024-11-04 18:52:16 -05:00
parent 437bf16505
commit e7be2d6428
2 changed files with 4 additions and 1 deletions
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3
src/main/java/frc/robot/RobotContainer.java
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@ -43,6 +43,9 @@ public class RobotContainer {
Lancer lancer= new Lancer(lanceur);
Desaccumuler desaccumuler = new Desaccumuler(accumulateur);
FollowAprilTag aprilTag = new FollowAprilTag(limelight3G, lanceur);
manette.x().whileTrue(new Lancer(lanceur));
manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
manette.a().whileTrue(new Desaccumuler(accumulateur));
}
public Command getAutonomousCommand() {

2
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -47,7 +47,7 @@ public class Lanceur extends SubsystemBase {
public void lance(double vitesse){
lanceur1.set(vitesse);lanceur2.set(vitesse);
}
public void lance(){
public void lance(){
lance(vitesse.getDouble(0.2));
}
public void tourelRotation(double x, double y, double rotation){