From 5f44d5304a4e441effa8d654a10e36cea0b96e2e Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 1 Apr 2026 19:35:31 -0400 Subject: [PATCH] mode autonise mieux --- .../robot/commands/ModeAuto/BougerGaucheAuto.java | 12 +----------- .../robot/commands/ModeAuto/GrimperReservoir.java | 2 +- 2 files changed, 2 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java index c44fc06..cbd0932 100644 --- a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java +++ b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java @@ -46,22 +46,12 @@ public class BougerGaucheAuto extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(alliance.get() == Alliance.Blue){ - if(timer.get() < 0.75){ + if(timer.get() < 1.25){ drivetrain.setControl(drive.withVelocityY(1.5)); } else{ drivetrain.setControl(drive.withVelocityY(0)); } - } - else{ - if(timer.get() < 0.75){ - drivetrain.setControl(drive.withVelocityY(1.5)); - } - else{ - drivetrain.setControl(drive.withVelocityY(0)); - } - } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java index 236f588..31c372a 100644 --- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java +++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java @@ -73,7 +73,7 @@ public class GrimperReservoir extends Command { x = 15.6; angle = 180; if(pigeonAngle< 190 && pigeonAngle> 170){ - drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*5.5),-2,2))); + drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2))); } else{ if(pigeonAngle>180){