sdesharnais/Rebuilt-2026
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samuel desharnais
2026-03-28 14:41:49 -04:00
parent 85da1dcad1
commit 9e3bd6e7d3
2 changed files with 5 additions and 5 deletions
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6
src/main/java/frc/robot/RobotContainer.java
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@@ -96,9 +96,9 @@ public class RobotContainer {
private void configureBindings() { private void configureBindings() {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05)) drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05))
.withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05)) .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05))
.withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05)) .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*0.7, 0.05))
) )
); );
//manette 1 //manette 1

4
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -21,7 +21,7 @@ public class Grimpeur extends SubsystemBase {
SparkMaxConfig slaveConfig = new SparkMaxConfig(); SparkMaxConfig slaveConfig = new SparkMaxConfig();
DigitalInput limit = new DigitalInput(0); DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurGrimpeur = private GenericEntry EncodeurGrimpeur =
teb.add("Position haut grimpeur", 105).getEntry(); teb.add("Position haut grimpeur", 100).getEntry();
public void Grimper(double vitesse){ public void Grimper(double vitesse){
grimpeur1.set(vitesse); grimpeur1.set(vitesse);
grimpeur2.set(vitesse); grimpeur2.set(vitesse);
@@ -36,7 +36,7 @@ public class Grimpeur extends SubsystemBase {
return limit.get(); return limit.get();
} }
public double PositionFinal(){ public double PositionFinal(){
return EncodeurGrimpeur.getDouble(101); return EncodeurGrimpeur.getDouble(100);
} }
/** Creates a new Grimpeur. */ /** Creates a new Grimpeur. */
public Grimpeur() { public Grimpeur() {