sdesharnais/Rebuilt-2026
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

mettre en 2026

Browse Source
This commit is contained in:
samuel desharnais
2026-03-26 17:45:25 -04:00
parent 69fe4a58d0
commit 0492c9a2c6
21 changed files with 798 additions and 121 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
View File

@@ -50,18 +50,12 @@ public class RetourMilieuDroite extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] BotPose = new double[6];
BotPose = limelight3g.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
if(alliance.get() == Alliance.Blue){
angle = 0;
}
else{
angle = 180;
}
if(pigeon2.getYaw().getValueAsDouble() <355 || pigeon2.getYaw().getValueAsDouble() > 5){
if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
drivetrain.setControl(drive.withRotationalRate(0.5));
}
@@ -69,9 +63,6 @@ public class RetourMilieuDroite extends Command {
drivetrain.setControl(drive.withRotationalRate(-0.5));
}
}
else{
}
}
// Called once the command ends or is interrupted.
@Override