From 9385248293599e5dbe4e68a0130fce7c27f6a75e Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Sat, 17 Feb 2024 13:26:24 -0500 Subject: [PATCH 1/2] Commit --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cecc364..37b4083 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -79,7 +79,7 @@ public class RobotContainer { CameraServer.startAutomaticCapture(); manette.a().whileTrue(new GuiderBas(guideur)); manette.b().whileTrue(new GuiderHaut(guideur)); - joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur)); + joystick.button(3).whileTrue(balayer); 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(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur))); From 9c9d821939f1bc51ba738a25d4be0bacc57f1021 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Sat, 17 Feb 2024 13:27:27 -0500 Subject: [PATCH 2/2] b --- src/main/java/frc/robot/RobotContainer.java | 1 + src/main/java/frc/robot/command/Balayer.java | 2 +- src/main/java/frc/robot/subsystem/Accumulateur.java | 8 ++++---- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cecc364..0b43edf 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -79,6 +79,7 @@ public class RobotContainer { CameraServer.startAutomaticCapture(); manette.a().whileTrue(new GuiderBas(guideur)); manette.b().whileTrue(new GuiderHaut(guideur)); + manette.x().whileTrue(new PistonFerme(grimpeur)); joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur)); joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur)); joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive))); diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java index 58e3531..01a230d 100644 --- a/src/main/java/frc/robot/command/Balayer.java +++ b/src/main/java/frc/robot/command/Balayer.java @@ -29,7 +29,7 @@ public class Balayer extends Command { accumulateur.Accumuler(); } else{ - balayeuse.balaye(0.6); + balayeuse.balaye(0.3); accumulateur.Accumuler(); } } diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index f85e6c3..1e7a558 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -18,7 +18,7 @@ public class Accumulateur extends SubsystemBase { ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); private GenericEntry vitesse = - dashboard.add("vitesseacc", 1) + dashboard.add("vitesseacc", 0.1) .withSize(1, 1) .withPosition(4, 3) .getEntry(); @@ -41,11 +41,11 @@ public class Accumulateur extends SubsystemBase { dashboard.addBoolean("limitacc", this::limitswitch); } public void Accumuler(double vitesse){ - Moteuracc.set(vitesse); - Moteuracc2.set(vitesse); + Moteuracc.set(-vitesse); + Moteuracc2.set(-vitesse); } public void Accumuler(){ - Accumuler(vitesse.getDouble(0.1)); + Accumuler(vitesse.getDouble(0.3)); } @Override