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limit + encodeur accumulateur

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This commit is contained in:
Olivier Dubois
2023-10-24 18:53:22 -04:00
parent 959cda75ec
commit 202b0b7b7e
1 changed files with 13 additions and 10 deletions
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23
src/main/java/frc/robot/subsystems/Accumulateur.java
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@@ -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