sdesharnais/Rebuilt-2026
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samuel desharnais
2026-03-28 16:01:40 -04:00
parent 799e3e34c3
commit 755d79aa18
5 changed files with 16 additions and 14 deletions
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6
src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
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@@ -51,10 +51,10 @@ public class TournerVersMur extends Command {
angle = 180;
}
if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
drivetrain.setControl(drive.withRotationalRate(force));
drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
}
else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
drivetrain.setControl(drive.withRotationalRate(-force));
drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
}
}
@@ -65,6 +65,6 @@ public class TournerVersMur extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished() {
return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 5;
return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
}
}