sdesharnais/Rebuilt-2026
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Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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This commit is contained in:
Antoine PerreaultE
2026-03-10 20:38:23 -04:00
parent e42464b1d6 d04817a197
commit d73da286ed
5 changed files with 14 additions and 6 deletions
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5
src/main/java/frc/robot/commands/DescendreBalyeuse.java
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@@ -24,9 +24,12 @@ public class DescendreBalyeuse 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(balayeuse.Distance() < balayeuse.EncodeurBalayeuse()){ if(Math.abs(balayeuse.Distance()) < balayeuse.EncodeurBalayeuse()){
balayeuse.Pivoter(-0.2); balayeuse.Pivoter(-0.2);
} }
else{
balayeuse.Pivoter(0);
}
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.

2
src/main/java/frc/robot/commands/DescendreGrimpeur.java
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@@ -24,7 +24,7 @@ public class DescendreGrimpeur extends Command {
@Override @Override
public void execute() { public void execute() {
if(!grimpeur.Limit()){ if(!grimpeur.Limit()){
grimpeur.Grimper(-0.5); grimpeur.Grimper(-0.2);
} }
else{ else{
grimpeur.Reset(); grimpeur.Reset();

9
src/main/java/frc/robot/commands/MonterGrimpeur.java
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@@ -23,8 +23,13 @@ public class MonterGrimpeur 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(grimpeur.Position() < grimpeur.PositionFinal()){
grimpeur.Grimper(0.5); if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
grimpeur.Grimper(0.2);
System.out.println("monte");
}
else {
grimpeur.Grimper(0);
} }
} }

2
src/main/java/frc/robot/subsystems/Balayeuse.java
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@@ -39,7 +39,7 @@ public class Balayeuse extends SubsystemBase {
Pivot.getEncoder().setPosition(0); Pivot.getEncoder().setPosition(0);
} }
public boolean GetLimiSwtich(){ public boolean GetLimiSwtich(){
return limit.get(); return !limit.get();
} }
public double Amp(){ public double Amp(){
return Balaye2.getOutputCurrent(); return Balaye2.getOutputCurrent();

2
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase { public class Grimpeur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardTab teb = Shuffleboard.getTab("teb");
SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless); SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
SparkMax grimpeur2 = new SparkMax(4,MotorType.kBrushless); SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
SparkMaxConfig slaveConfig = new SparkMaxConfig(); SparkMaxConfig slaveConfig = new SparkMaxConfig();
DigitalInput limit = new DigitalInput(0); DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurGrimpeur = private GenericEntry EncodeurGrimpeur =