From 202b0b7b7e24d54180807dc90c008c146e9128d0 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 24 Oct 2023 18:53:22 -0400
Subject: [PATCH] limit + encodeur accumulateur

---
 .../frc/robot/subsystems/Accumulateur.java    | 23 +++++++++++--------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Accumulateur.java b/src/main/java/frc/robot/subsystems/Accumulateur.java
index 8e9a8a9..823e9e0 100644
--- a/src/main/java/frc/robot/subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystems/Accumulateur.java
@@ -5,17 +5,15 @@
 package frc.robot.subsystems;
 
 
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
-import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Accumulateur extends SubsystemBase {
   private WPI_TalonSRX moteuracc = new WPI_TalonSRX(Constants.accumulateur);
-  
+  private DigitalInput limitacc = new DigitalInput(Constants.ballon);
   /** Creates a new Accumulateur. */
   public Accumulateur() {
     
@@ -23,12 +21,17 @@ public class Accumulateur extends SubsystemBase {
   public void Deaccumuler(double vitesse){
     moteuracc.set(vitesse);
   }
-  //public double distance() {
-    //  return(moteuracc.getEncoder().getPosition());
-   // }
-  //public void Reset() {
-    //  moteuracc.getEncoder().setPosition(0);
-   // }
+  
+   public boolean limit(){
+    return limitacc.get();
+  }
+
+   public double distance() {
+   return(moteuracc.getSelectedSensorPosition());
+   }
+   public void Reset() {
+   moteuracc.setSelectedSensorPosition(0);
+   }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run