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 18:55:53 -04:00
commit 569fbce96b
3 changed files with 12 additions and 6 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -88,8 +88,8 @@ public class RobotContainer {
Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY()); Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY()); Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY()); Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getLeftX); PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftY); BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
public RobotContainer() { public RobotContainer() {
chooser.addOption(enhaut, enhaut); chooser.addOption(enhaut, enhaut);

6
src/main/java/frc/robot/commands/bras/BrasManuel.java
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@ -30,9 +30,11 @@ public class BrasManuel extends CommandBase {
@Override @Override
public void execute() { public void execute() {
if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){ if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble()); brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble()*0.5);
} }
else{
brasTelescopique.AvanceRecule(0);
}
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

6
src/main/java/frc/robot/commands/bras/PivotManuel.java
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@ -28,7 +28,11 @@ public class PivotManuel extends CommandBase {
@Override @Override
public void execute() { public void execute() {
if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){ if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
pivot.monteDescendre(doubleSupplier.getAsDouble());} pivot.monteDescendre(-doubleSupplier.getAsDouble()*0.5)
;}
else{
pivot.monteDescendre(0);
}
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.