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Base pilotable

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This commit is contained in:
Olivier Dubois 2022-11-14 19:46:09 -05:00
parent 5afe54c3b6
commit de18ce1961
3 changed files with 19 additions and 5 deletions
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3
src/main/java/frc/robot/Constants.java
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@ -16,10 +16,9 @@ package frc.robot;
*/ */
<<<<<<< HEAD <<<<<<< HEAD
public final class Constants {} public final class Constants {}
private static final int MoteurAvantGauche = (0); private static final int MoteurAvantGauche = (0);
private static final int MoteurAvantDroit = (0); private static final int MoteurAvantDroit = (0);
private static final int MoteurArriereDroit = (0); private static final int MoteurArriereGauche = (0);
private static final int MoteurArriereDroit = (0); private static final int MoteurArriereDroit = (0);
======= =======
public final class Constants { public final class Constants {

2
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -23,7 +23,7 @@ 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 void Drive(double y, double x, double rot){
drive.driveCarthesian(y, x, rot, 0) drive.driveCarthesian(y, x, rot, 0);
} }
/** Creates a new BasePilotable. */ /** Creates a new BasePilotable. */
public BasePilotable() {} public BasePilotable() {}

19
src/main/java/frc/robot/subsystems/pistonshaker.java
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@ -4,14 +4,29 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class pistonshaker extends SubsystemBase { public class Pistonshaker extends SubsystemBase {
private DoubleSolenoid shaker = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonQuiShakef,Constants.pistonQuiShakeb);
/** Creates a new pistonshaker. */ /** Creates a new pistonshaker. */
public pistonshaker() {}
public Pistonshaker() {
}
public void sortirpiston() {
shaker.set(Value.kForward);
}
public void rentrerpiston() {
shaker.set(Value.kReverse);
}
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
} }
} }