PLS5618/robot-2024
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piston

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This commit is contained in:
samuel desharnais 2024-02-08 18:03:35 -05:00
parent d8af12135e
commit a62698d641
3 changed files with 11 additions and 7 deletions
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2
build.gradle
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@ -1,6 +1,6 @@
plugins { plugins {
id "java" id "java"
id "edu.wpi.first.GradleRIO" version "2024.1.1" id "edu.wpi.first.GradleRIO" version "2024.2.1"
} }
java { java {

4
src/main/java/frc/robot/command/Pistongrimpeur.java
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@ -22,14 +22,14 @@ public class Pistongrimpeur extends Command {
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@Override @Override
public void initialize() { public void initialize() {
grimpeur.pistondroiteouvre(); grimpeur.pistonouvre();
} }
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(grimpeur.pistondgaucheouvre()){ if(grimpeur.piston()){
LED.couleur(0, 0, 255); LED.couleur(0, 0, 255);
} }
} }

12
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -77,13 +77,17 @@ public AHRS gyroscope = new AHRS();
public double getpitch(){ public double getpitch(){
return gyroscope.getPitch(); return gyroscope.getPitch();
} }
public boolean pistondroiteouvre(){ public void pistonferme(){
return pistondroite.get(); pistondroite.set(true);
pistondgauche.set(true);
} }
public boolean pistondgaucheouvre(){ public void pistonouvre(){
pistondgauche.set(false);
pistondroite.set(false);
}
public boolean piston(){
return pistondgauche.get(); return pistondgauche.get();
} }
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run