PLS5618/robot-2024
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grimpeur

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This commit is contained in:
samuel desharnais 2024-02-01 20:20:04 -05:00
parent 353ea19d71
commit c430c98e19
3 changed files with 22 additions and 10 deletions
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6
src/main/java/frc/robot/RobotContainer.java
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@ -22,6 +22,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
// Commands
import frc.robot.command.Balayer;
import frc.robot.command.GrimpeurDroit;
import frc.robot.command.GrimpeurGauche;
import frc.robot.command.GuiderBas;
import frc.robot.command.GuiderHaut;
import frc.robot.command.Lancer;
@ -49,6 +51,8 @@ public class RobotContainer {
GuiderBas guiderBas = new GuiderBas(guideur);
LancerNote lancernote = new LancerNote(lanceur, accumulateur);
Lancerampli lancerampli = new Lancerampli(lanceur);
GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, null);
GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, null);
CommandJoystick joystick = new CommandJoystick(0);
CommandXboxController manette = new CommandXboxController(1);
@ -69,7 +73,7 @@ public class RobotContainer {
private void configureBindings() {
joystick.button(3).toggleOnTrue(balayer);
joystick.button(3).toggleOnTrue(balayer);
}

12
src/main/java/frc/robot/command/GrimpeurHautDroit.java → src/main/java/frc/robot/command/GrimpeurDroit.java
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@ -4,13 +4,17 @@
package frc.robot.command;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Grimpeur;
public class GrimpeurHautDroit extends Command {
public class GrimpeurDroit extends Command {
private DoubleSupplier doubleSupplier;
private Grimpeur grimpeur;
/** Creates a new GrimpeurHaut. */
public GrimpeurHautDroit(Grimpeur grimpeur) {
public GrimpeurDroit(Grimpeur grimpeur, DoubleSupplier doubleSupplier) {
this.doubleSupplier = doubleSupplier;
this.grimpeur = grimpeur;
addRequirements(grimpeur);
// Use addRequirements() here to declare subsystem dependencies.
@ -31,11 +35,11 @@ public class GrimpeurHautDroit extends Command {
grimpeur.droit(0);
}
else if(grimpeur.getpitch()<-15){
grimpeur.droit(-0.6);
grimpeur.droit(-doubleSupplier.getAsDouble());
}
else if(grimpeur.getpitch()>15){
grimpeur.droit(0.6);
grimpeur.droit(doubleSupplier.getAsDouble());
}
else{
grimpeur.droit(0);

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

@ -4,13 +4,17 @@
package frc.robot.command;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Grimpeur;
public class GrimpeurHautGauche extends Command {
public class GrimpeurGauche extends Command {
private DoubleSupplier doubleSupplier;
private Grimpeur grimpeur;
/** Creates a new GrimpeurHautGauche. */
public GrimpeurHautGauche(Grimpeur grimpeur) {
public GrimpeurGauche(Grimpeur grimpeur,DoubleSupplier doubleSupplier) {
this.doubleSupplier = doubleSupplier;
this.grimpeur = grimpeur;
addRequirements(grimpeur);
// Use addRequirements() here to declare subsystem dependencies.
@ -30,11 +34,11 @@ public class GrimpeurHautGauche extends Command {
grimpeur.gauche(0);
}
else if(grimpeur.getpitch()<-15){
grimpeur.gauche(0.6);
grimpeur.gauche(doubleSupplier.getAsDouble());
}
else if(grimpeur.getpitch()>15){
grimpeur.gauche(-0.6);
grimpeur.gauche(-doubleSupplier.getAsDouble());
}
else{
grimpeur.gauche(0);