From 959cda75ecf6224ccc2e0ec6eee82a377b599703 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 24 Oct 2023 18:13:53 -0400
Subject: [PATCH 1/4] talon a wpi_talonsrx

---
 src/main/java/frc/robot/subsystems/Accumulateur.java | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Accumulateur.java b/src/main/java/frc/robot/subsystems/Accumulateur.java
index 3437c27..8e9a8a9 100644
--- a/src/main/java/frc/robot/subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystems/Accumulateur.java
@@ -5,13 +5,16 @@
 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.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Accumulateur extends SubsystemBase {
-  private Talon moteuracc = new Talon(Constants.accumulateur);
+  private WPI_TalonSRX moteuracc = new WPI_TalonSRX(Constants.accumulateur);
   
   /** Creates a new Accumulateur. */
   public Accumulateur() {

From f0119e201621f3b92fd9f39b28850657ac86ebce Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 24 Oct 2023 18:17:08 -0400
Subject: [PATCH 2/4] Enlever import talon

---
 src/main/java/frc/robot/subsystems/Accumulateur.java | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Accumulateur.java b/src/main/java/frc/robot/subsystems/Accumulateur.java
index 8e9a8a9..75b30a7 100644
--- a/src/main/java/frc/robot/subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystems/Accumulateur.java
@@ -7,9 +7,7 @@ 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.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 

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 3/4] 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

From 3bc3f849daf2a6926ee8e32fe29f32489561dd4b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 24 Oct 2023 19:26:34 -0400
Subject: [PATCH 4/4] Encodeur  lanceur

---
 src/main/java/frc/robot/subsystems/Lanceur.java | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index 1c61716..15ff030 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -18,10 +18,16 @@ public class Lanceur extends SubsystemBase {
   public void lancer(double vitesse){
     lanceur.set(vitesse);
   }
-      // Encodeur
-     //  public double distance(){
-    //  return(lanceur.getEncoder().getPosition());
-   // }
+
+  // encodeur
+  public double vitesse() {
+    return(lanceur.getEncoder().getPosition());
+
+  }
+    public void Reset() {
+      lanceur.getEncoder().setPosition(0);
+  
+    }
 
   @Override
   public void periodic() {