PLS5618/robot-2023
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This commit is contained in:
EdwardFaucher 2023-03-20 18:47:03 -04:00
parent d4a0188c04
commit c121ff5ec0
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());
Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getLeftX);
BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftY);
PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getRightY);
BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftX);
public RobotContainer() {
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
public void execute() {
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.

8
src/main/java/frc/robot/commands/bras/PivotManuel.java
View File

@ -28,9 +28,13 @@ public class PivotManuel extends CommandBase {
@Override
public void execute() {
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.
@Override
public void end(boolean interrupted) {}