63 lines
1.9 KiB
Java
63 lines
1.9 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.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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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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public class Bougerbras extends CommandBase {
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/** Creates a new bougerbras. */
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double distance;
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BrasTelescopique brasTelescopique;
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private GenericEntry forcebrasdescendre;
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private GenericEntry forcebrasmonter;
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public Bougerbras(BrasTelescopique brasTelescopique,double distance,GenericEntry forcebrasdescendre, GenericEntry forcebrasmonter) {
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this.brasTelescopique = brasTelescopique;
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this.distance = distance;
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this.forcebrasdescendre = forcebrasdescendre;
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this.forcebrasmonter = forcebrasmonter;
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addRequirements(brasTelescopique);
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// Use addRequirements() here to declare subsystem dependencies.
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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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}
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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()>distance+0.5 ) {
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brasTelescopique.AvanceRecule(forcebrasdescendre.getDouble(-0.35));
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}
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else if(brasTelescopique.distance()<distance-0.5) {
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brasTelescopique.AvanceRecule(forcebrasmonter.getDouble(0.35));
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}
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else {
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brasTelescopique.AvanceRecule(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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brasTelescopique.AvanceRecule(0);
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}
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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 brasTelescopique.distance()>distance-0.5 && brasTelescopique.distance()<distance+0.5;
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}
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}
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