PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE 2024-02-17 15:08:33 -05:00
parent 852aef392e
commit 507e488c6a
2 changed files with 5 additions and 17 deletions
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10
src/main/java/frc/robot/command/GrimpeurDroit.java
View File

@ -30,10 +30,7 @@ public class GrimpeurDroit extends Command {
@Override @Override
public void execute() { public void execute() {
grimpeur.droit(doubleSupplier.getAsDouble()); grimpeur.droit(doubleSupplier.getAsDouble());
if(grimpeur.encoderd()<73){ if(grimpeur.getpitch()<-15){
grimpeur.droit(doubleSupplier.getAsDouble());
}
else if(grimpeur.getpitch()<-15){
grimpeur.droit(-doubleSupplier.getAsDouble()); grimpeur.droit(-doubleSupplier.getAsDouble());
} }
@ -43,11 +40,6 @@ public class GrimpeurDroit extends Command {
else{ else{
grimpeur.droit(0); grimpeur.droit(0);
} }
if(grimpeur.encoderd()>0){
grimpeur.resetencodeurd();
grimpeur.droit(0);
}
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

12
src/main/java/frc/robot/command/GrimpeurGauche.java
View File

@ -31,10 +31,7 @@ public class GrimpeurGauche extends Command {
@Override @Override
public void execute() { public void execute() {
grimpeur.gauche(doubleSupplier.getAsDouble()); grimpeur.gauche(doubleSupplier.getAsDouble());
if(grimpeur.encoderg()<78){ if(grimpeur.getpitch()<-15){
grimpeur.gauche(doubleSupplier.getAsDouble());
}
else if(grimpeur.getpitch()<-15){
grimpeur.gauche(doubleSupplier.getAsDouble()); grimpeur.gauche(doubleSupplier.getAsDouble());
} }
else if(grimpeur.getpitch()>15){ else if(grimpeur.getpitch()>15){
@ -46,10 +43,9 @@ public class GrimpeurGauche extends Command {
if(grimpeur.encoderg()<0){ if(grimpeur.encoderg()<0){
grimpeur.gauche(doubleSupplier.getAsDouble()); grimpeur.gauche(doubleSupplier.getAsDouble());
} }
else{ else{
grimpeur.resetencodeurg(); grimpeur.gauche(0);
grimpeur.gauche(0); }
}
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.