Merge remote-tracking branch 'origin/main' into 3-poussoir

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class BasePilotable extends SubsystemBase {
+     
+
+private WPI_TalonSRX avantGauche = new WPI_TalonSRX(Constants.MoteurAvantGauche);
+
+private WPI_TalonSRX avantDroit = new WPI_TalonSRX(Constants.MoteurAvantDroit);
+
+private WPI_TalonSRX arriereGauche = new WPI_TalonSRX(Constants.MoteurArriereGauche);
+
+private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroit);
+
+private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
+
+private void drive(double y, double x, double rot){
+  mecanum.driveCartesian(y, x, rot, 0);
+}
+  /** Creates a new BasePilotable. */
+  public BasePilotable() {
+    avantDroit.setInverted(true);
+    arriereDroit.setInverted(true);
+  }
+   
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}