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moyenne amérage

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This commit is contained in:
Samuel
2026-02-23 20:35:44 -05:00
parent a3eae79bdd
commit 686db0cc88
1 changed files with 11 additions and 7 deletions
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18
src/main/java/frc/robot/commands/Aspirer.java
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@@ -33,19 +33,23 @@ public class Aspirer extends Command {
@Override @Override
public void execute() { public void execute() {
timer.start(); timer.start();
if(balayeuse.Amp() < 40){ int nbFois = 0;
double moyenneAmp = 0;
if(timer.get() <3){
nbFois++;
moyenneAmp += balayeuse.Amp() / nbFois;
}
else{
timer.reset();
}
if(moyenneAmp < 40){
timer.reset(); timer.reset();
balayeuse.Balayer(0.5); balayeuse.Balayer(0.5);
} }
else if(balayeuse.Amp() > 40){ else if(moyenneAmp > 40){
if(timer.get() > 2){
balayeuse.Balayer(0); balayeuse.Balayer(0);
led.Jaune2(); led.Jaune2();
} }
else{
balayeuse.Balayer(0.5);
}
}
} }