PLS5618/robot-2023
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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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This commit is contained in:
samuel desharnais 2023-03-20 18:09:28 -04:00
commit 18e7c292ce
1 changed files with 6 additions and 2 deletions
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8
src/main/java/frc/robot/RobotContainer.java
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@ -145,9 +145,13 @@ public RobotContainer() {
Map.entry(enbas,pivoteBrasBas),
Map.entry(nulpart,pivotBrasRentre)
), chooser::getSelected),
ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
new OuvrePince(pince).unless(()->chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1),
new FermePince(pince).unless(()->chooser.getSelected().equals(nulpart)),
new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
Commands.waitSeconds(1),
Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
new Avancer(basePilotable,()-> avancerdistance.getDouble(0)).unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);