PLS5618/robot-2024
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This commit is contained in:
samuel desharnais 2024-02-17 13:27:27 -05:00
parent 843e1cbb03
commit 9c9d821939
3 changed files with 6 additions and 5 deletions
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1
src/main/java/frc/robot/RobotContainer.java
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@ -79,6 +79,7 @@ public class RobotContainer {
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
manette.a().whileTrue(new GuiderBas(guideur)); manette.a().whileTrue(new GuiderBas(guideur));
manette.b().whileTrue(new GuiderHaut(guideur)); manette.b().whileTrue(new GuiderHaut(guideur));
manette.x().whileTrue(new PistonFerme(grimpeur));
joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur)); joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur)); joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive))); joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));

2
src/main/java/frc/robot/command/Balayer.java
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@ -29,7 +29,7 @@ public class Balayer extends Command {
accumulateur.Accumuler(); accumulateur.Accumuler();
} }
else{ else{
balayeuse.balaye(0.6); balayeuse.balaye(0.3);
accumulateur.Accumuler(); accumulateur.Accumuler();
} }
} }

8
src/main/java/frc/robot/subsystem/Accumulateur.java
View File

@ -18,7 +18,7 @@ public class Accumulateur extends SubsystemBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesseacc", 1) dashboard.add("vitesseacc", 0.1)
.withSize(1, 1) .withSize(1, 1)
.withPosition(4, 3) .withPosition(4, 3)
.getEntry(); .getEntry();
@ -41,11 +41,11 @@ public class Accumulateur extends SubsystemBase {
dashboard.addBoolean("limitacc", this::limitswitch); dashboard.addBoolean("limitacc", this::limitswitch);
} }
public void Accumuler(double vitesse){ public void Accumuler(double vitesse){
Moteuracc.set(vitesse); Moteuracc.set(-vitesse);
Moteuracc2.set(vitesse); Moteuracc2.set(-vitesse);
} }
public void Accumuler(){ public void Accumuler(){
Accumuler(vitesse.getDouble(0.1)); Accumuler(vitesse.getDouble(0.3));
} }
@Override @Override