PLS5618/betabot-2023
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Basepilotable gyroscope

Browse Source
This commit is contained in:
Olivier Dubois 2022-11-21 18:28:50 -05:00
parent 7c3eb49b8b
commit 9bb20dfccd
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/main/java/frc/robot/subsystems/BasePilotable.java
View File

@ -5,6 +5,7 @@
package frc.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@ -23,8 +24,12 @@ private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroi
private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
private void drive(double y, double x, double rot){
mecanum.driveCartesian(y, x, rot, 0);
private AHRS gyroscope = new AHRS();
public double getangle() {
return gyroscope.getAngle();
}
public void drive(double y, double x, double rot){
mecanum.driveCartesian(y, x, rot, getangle());
}
/** Creates a new BasePilotable. */
public BasePilotable() {
@ -36,4 +41,5 @@ private void drive(double y, double x, double rot){
public void periodic() {
// This method will be called once per scheduler run
}
}