68 lines
1.7 KiB
Java
68 lines
1.7 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.command;
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import java.util.function.DoubleSupplier;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystem.Grimpeur;
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public class GrimpeurDroit extends Command {
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private DoubleSupplier doubleSupplier;
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private Grimpeur grimpeur;
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/** Creates a new GrimpeurHaut. */
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public GrimpeurDroit(Grimpeur grimpeur, DoubleSupplier doubleSupplier) {
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this.doubleSupplier = doubleSupplier;
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this.grimpeur = grimpeur;
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addRequirements(grimpeur);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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grimpeur.resetencodeurd();
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grimpeur.pistonferme();
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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grimpeur.droit(doubleSupplier.getAsDouble());
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if(grimpeur.encoderd()>78){
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grimpeur.droit(0);
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}
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else if(grimpeur.getpitch()<-15){
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grimpeur.droit(-doubleSupplier.getAsDouble());
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}
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else if(grimpeur.getpitch()>15){
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grimpeur.droit(doubleSupplier.getAsDouble());
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}
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else{
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grimpeur.droit(0);
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}
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if(grimpeur.encoderd()>0){
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grimpeur.resetencodeurd();
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grimpeur.droit(0);
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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grimpeur.droit(0);
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grimpeur.pistonouvre();
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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