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Basepilotable gyroscope

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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
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10
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -5,6 +5,7 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; 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.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase; 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 MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
private void drive(double y, double x, double rot){ private AHRS gyroscope = new AHRS();
mecanum.driveCartesian(y, x, rot, 0); 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. */ /** Creates a new BasePilotable. */
public BasePilotable() { public BasePilotable() {
@ -36,4 +41,5 @@ private void drive(double y, double x, double rot){
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
} }
} }