sdesharnais/Rebuilt-2026
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bouge mieux

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This commit is contained in:
samuel desharnais
2026-04-01 19:13:25 -04:00
parent da28ff48db
commit cdca0230a4
3 changed files with 5 additions and 5 deletions
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2
src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
View File

@@ -56,7 +56,7 @@ public class BougerGaucheAuto extends Command {
} }
else{ else{
if(timer.get() < 0.75){ 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));

4
src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
View File

@@ -65,7 +65,7 @@ public class GrimperMur extends Command {
angle = angle + 360; angle = angle + 360;
} }
if(alliance.get() == Alliance.Blue){ if(alliance.get() == Alliance.Blue){
y = 5; y = 5.4;
x = 1.11; x = 1.11;
angle = 0; angle = 0;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
@@ -81,7 +81,7 @@ public class GrimperMur extends Command {
} }
} }
else{ else{
x = 11.45966; x = 15.6;
y = 6.959326; y = 6.959326;
angle = 180; angle = 180;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){

4
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
View File

@@ -70,10 +70,10 @@ public class GrimperReservoir extends Command {
pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble(); pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
System.out.println(pigeonAngle); System.out.println(pigeonAngle);
y = 5.4; y = 5.4;
x = 15.4; 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)*5.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*5.5),-2,2)));
} }
else{ else{
if(pigeonAngle>180){ if(pigeonAngle>180){