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// 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;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class Accumulateur extends SubsystemBase {
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private WPI_TalonSRX moteuracc = new WPI_TalonSRX(Constants.accumulateur);
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/** Creates a new Accumulateur. */
public Accumulateur() {
}
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public void Deaccumuler(){
moteuracc.set(0.5);
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}
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public void reaccumuler(){
moteuracc.set(-0.5);
}
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public double tourneavant(){
return(moteuracc.getSelectedSensorPosition());
}
public double tournearriere(){
return(moteuracc.getSelectedSensorPosition());
}
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public void stop(){
moteuracc.set(0);
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}
public double distance() {
return(moteuracc.getSelectedSensorPosition());
}
public void Reset() {
moteuracc.setSelectedSensorPosition(0);
}
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@Override
public void periodic() {
// This method will be called once per scheduler run
}
}