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Grattedebug

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This commit is contained in:
Olivier Demers
2023-03-21 23:17:59 +00:00
parent d3e305c11a
commit aa420b56af
10 changed files with 38 additions and 45 deletions
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21
src/main/java/frc/robot/subsystems/Gratte.java
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@ -24,15 +24,6 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
private DigitalInput limithg = new DigitalInput(Constants.limithg);
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
public boolean baiser;
boolean enHaut = true;
public void setenHaut(boolean enHaut){
this.enHaut = enHaut;
}
public boolean getenHaut(){
return enHaut;
}
public boolean hautd(){
return limithd.get();
@ -55,17 +46,11 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
limitswitchgratte.addBoolean ("limithd", this::hautd);
limitswitchgratte.addBoolean ("limitbg", this::basg);
}
public void Leverd(double vitesse){
Gratted.set(-vitesse);
public void bougerd(double vitesse){
Gratted.set(vitesse);
}
public void Leverg(double vitesse){
Gratteg.set(-vitesse);
}
public void baiserd(double vitesse){
Gratted.set(vitesse);
}
public void baiserg(double vitesse){
public void bougerg(double vitesse){
Gratteg.set(vitesse);
}

5
src/main/java/frc/robot/subsystems/Limelight.java
View File

@ -47,7 +47,7 @@ public class Limelight extends SubsystemBase {
public double getYaw() {
var result = limelight.getLatestResult();
if(result.hasTargets()){
return -result.getBestTarget().getYaw()/60;
return -result.getBestTarget().getYaw()/30;
}
return 0;
@ -57,6 +57,9 @@ public class Limelight extends SubsystemBase {
limelight.setDriverMode(true);
}
public void joueurhumain(){
limelight.setLED(VisionLEDMode.kOn);
}
public void joueurhumain1(){
limelight.setLED(VisionLEDMode.kOff);
}
@Override