PLS5618/robot-2023
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This commit is contained in:
EdwardFaucher 2023-03-18 09:44:08 -04:00
parent 5b2606140f
commit ac95c28c45
2 changed files with 5 additions and 4 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@ -117,7 +117,8 @@ public RobotContainer() {
private void configureBindings() { private void configureBindings() {
// manette 1 // manette 1
manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); manette1.x().onTrue(brakeOuvre);
manette1.b().onTrue(brakeFerme);
manette1.leftBumper().toggleOnTrue(aprilTag); manette1.leftBumper().toggleOnTrue(aprilTag);
manette1.rightBumper().toggleOnTrue(tape); manette1.rightBumper().toggleOnTrue(tape);
manette1.povUp().whileTrue(pivoteBrasHaut); manette1.povUp().whileTrue(pivoteBrasHaut);
@ -155,7 +156,7 @@ public RobotContainer() {
Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)), Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)), avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)) Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
)).andThen(brakeOuvre); )).andThen(new InstantCommand(basePilotable::BrakeOuvre));
} }

4
src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
View File

@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
brasTelescopique.ouvrir(); brasTelescopique.ouvrir();
} }
if (pivot.distance()<43.5){ if (pivot.distance()<43.5){
pivot.monteDescendre(0.6); pivot.monteDescendre(0.7);
} }
else if(pivot.distance()>44.5) { else if(pivot.distance()>44.5) {
pivot.monteDescendre(-0.6); pivot.monteDescendre(-0.7);
} }
else{ else{
pivot.monteDescendre(0); pivot.monteDescendre(0);