61 lines
1.7 KiB
Java
61 lines
1.7 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands.bras;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc.robot.subsystems.bras.BrasTelescopique;
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import frc.robot.subsystems.bras.Pivot;
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public class PivoteBrasMilieux extends CommandBase {
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private BrasTelescopique brasTelescopique;
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private Pivot pivot;
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/** Creates a new PivoteBrasMilieux. */
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public PivoteBrasMilieux(BrasTelescopique brasTelescopique, Pivot pivot) {
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this.brasTelescopique = brasTelescopique;
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this.pivot = pivot;
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(brasTelescopique);
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addRequirements(pivot);
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(brasTelescopique.distance()<10){
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brasTelescopique.AvanceRecule(0.5);
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}
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else if(brasTelescopique.distance()>11) {
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brasTelescopique.AvanceRecule(-0.5);
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}
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else {
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brasTelescopique.AvanceRecule(0);
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}
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if (pivot.distance()<10){
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pivot.monteDescendre(0.5);
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}
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else if(pivot.distance()>11) {
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pivot.monteDescendre(-0.5);
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}
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else{
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pivot.monteDescendre(0);
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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