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mode autonise mieux

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This commit is contained in:
Antoine PerreaultE
2026-04-01 19:35:31 -04:00
parent 9aa7018812
commit 5f44d5304a
2 changed files with 2 additions and 12 deletions
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12
src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
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@@ -46,23 +46,13 @@ public class BougerGaucheAuto extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(alliance.get() == Alliance.Blue){ if(timer.get() < 1.25){
if(timer.get() < 0.75){
drivetrain.setControl(drive.withVelocityY(1.5)); drivetrain.setControl(drive.withVelocityY(1.5));
} }
else{ else{
drivetrain.setControl(drive.withVelocityY(0)); 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. // Called once the command ends or is interrupted.
@Override @Override

2
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
View File

@@ -73,7 +73,7 @@ public class GrimperReservoir extends Command {
x = 15.6; x = 15.6;
angle = 180; angle = 180;
if(pigeonAngle< 190 && pigeonAngle> 170){ 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{ else{
if(pigeonAngle>180){ if(pigeonAngle>180){