PLS5618/robot-2023
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This commit is contained in:
samuel desharnais 2023-03-07 19:11:10 -05:00
parent 2c79346ce9
commit b3878866cf
2 changed files with 4 additions and 3 deletions
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3
src/main/java/frc/robot/RobotContainer.java
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@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot; package frc.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@ -34,6 +34,7 @@ import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux; import frc.robot.commands.bras.PivoteBrasMilieux;
public class RobotContainer { public class RobotContainer {
CameraServer.startAutomaticCapture();
CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1); CommandXboxController manette2 = new CommandXboxController(1);
// subsystems // subsystems

4
src/main/java/frc/robot/commands/Gyro.java
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@ -25,11 +25,11 @@ public class Gyro extends CommandBase {
public void execute() { public void execute() {
if(basePilotable.getpitch()<10) if(basePilotable.getpitch()<10)
{ {
basePilotable.drive(0.4, 0); basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
} }
else if(basePilotable.getpitch()>-10) else if(basePilotable.getpitch()>-10)
{ {
basePilotable.drive(-0.4, 0); basePilotable.drive(-0.3*basePilotable.getpitch()/15, 0);
} }
else else
{ {