From 88e4a0b885cc5732f0e773e2dcc106141f4a3677 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 29 Jan 2024 19:28:59 -0500 Subject: [PATCH] grimpeur --- .../java/frc/robot/command/GrimpeurBas.java | 51 +++++++++++++++++++ .../java/frc/robot/command/GrimpeurHaut.java | 25 +++++---- 2 files changed, 65 insertions(+), 11 deletions(-) create mode 100644 src/main/java/frc/robot/command/GrimpeurBas.java diff --git a/src/main/java/frc/robot/command/GrimpeurBas.java b/src/main/java/frc/robot/command/GrimpeurBas.java new file mode 100644 index 0000000..47b2a53 --- /dev/null +++ b/src/main/java/frc/robot/command/GrimpeurBas.java @@ -0,0 +1,51 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.command; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystem.Grimpeur; + +public class GrimpeurBas extends Command { + private Grimpeur grimpeur; + /** Creates a new GrimpeurBas. */ + public GrimpeurBas(Grimpeur grimpeur) { + this.grimpeur = grimpeur; + addRequirements(grimpeur); + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + grimpeur.resetencodeurd(); + grimpeur.resetencodeurg(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if(grimpeur.droite()){ + grimpeur.resetencodeurd(); + grimpeur.gauche(0); + } + if(grimpeur.gauche()){ + grimpeur.resetencodeurg(); + grimpeur.gauche(0); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + grimpeur.droit(0); + grimpeur.gauche(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/command/GrimpeurHaut.java b/src/main/java/frc/robot/command/GrimpeurHaut.java index a14a6fb..2fbe288 100644 --- a/src/main/java/frc/robot/command/GrimpeurHaut.java +++ b/src/main/java/frc/robot/command/GrimpeurHaut.java @@ -26,29 +26,32 @@ public class GrimpeurHaut extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(grimpeur.droite()){ - grimpeur.resetencodeurd(); - } - else if(grimpeur.gauche()){ - grimpeur.resetencodeurg(); - } - else if(grimpeur.encoderd()>261){ + + if(grimpeur.encoderd()>261 ){ grimpeur.droit(0); } else if(grimpeur.getpitch()<-15){ grimpeur.droit(0.6); - grimpeur.gauche(-0.6); + } else if(grimpeur.getpitch()>15){ - grimpeur.gauche(0.6); grimpeur.droit(-0.6); } - else if(grimpeur.encoderg()>261){ + else{ + grimpeur.droit(0); + } + if(grimpeur.encoderg()>261 ){ + grimpeur.gauche(0); + } + else if(grimpeur.getpitch()<-15){ grimpeur.gauche(0.6); + + } + else if(grimpeur.getpitch()>15){ + grimpeur.gauche(-0.6); } else{ grimpeur.gauche(0); - grimpeur.gauche(0); } }