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:
Antoine PerreaultE
2023-03-07 20:03:45 -05:00
parent 64556db1cd a50cbc2cf5
commit 96a7e51978
9 changed files with 68 additions and 31 deletions
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13
src/main/java/frc/robot/commands/Gyro.java
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@ -4,13 +4,18 @@
package frc.robot.commands;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.BasePilotable;
public class Gyro extends CommandBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
private BasePilotable basePilotable;
/** Creates a new Gyro. */
public Gyro(BasePilotable basePilotable) {
teb.add("angleGyro", 0.1);
teb.add("vitesseGyro", 0.1);
this.basePilotable = basePilotable;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(basePilotable);
@ -23,13 +28,13 @@ public class Gyro extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(basePilotable.getpitch()<10)
if(basePilotable.getpitch()>4)
{
basePilotable.drive(0.4, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
}
else if(basePilotable.getpitch()>-10)
else if(basePilotable.getpitch()<-4)
{
basePilotable.drive(-0.4, 0);
basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
}
else
{