PLS5618/betabot-2024
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Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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This commit is contained in:
samuel desharnais
2023-10-24 19:47:30 -04:00
parent 2834bb691b 3bc3f849da
commit 6037e53f92
2 changed files with 26 additions and 14 deletions
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26
src/main/java/frc/robot/subsystems/Accumulateur.java
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@@ -5,14 +5,15 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import edu.wpi.first.wpilibj.Encoder; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
public class Accumulateur extends SubsystemBase { public class Accumulateur extends SubsystemBase {
private Talon moteuracc = new Talon(Constants.accumulateur); private WPI_TalonSRX moteuracc = new WPI_TalonSRX(Constants.accumulateur);
private DigitalInput limitacc = new DigitalInput(Constants.ballon);
/** Creates a new Accumulateur. */ /** Creates a new Accumulateur. */
public Accumulateur() { public Accumulateur() {
@@ -20,12 +21,17 @@ public class Accumulateur extends SubsystemBase {
public void Deaccumuler(double vitesse){ public void Deaccumuler(double vitesse){
moteuracc.set(vitesse); moteuracc.set(vitesse);
} }
//public double distance() {
// return(moteuracc.getEncoder().getPosition()); public boolean limit(){
// } return limitacc.get();
//public void Reset() { }
// moteuracc.getEncoder().setPosition(0);
// } public double distance() {
return(moteuracc.getSelectedSensorPosition());
}
public void Reset() {
moteuracc.setSelectedSensorPosition(0);
}
@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

14
src/main/java/frc/robot/subsystems/Lanceur.java
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@@ -18,10 +18,16 @@ public class Lanceur extends SubsystemBase {
public void lancer(double vitesse){ public void lancer(double vitesse){
lanceur.set(vitesse); lanceur.set(vitesse);
} }
// Encodeur
// public double distance(){ // encodeur
// return(lanceur.getEncoder().getPosition()); public double vitesse() {
// } return(lanceur.getEncoder().getPosition());
}
public void Reset() {
lanceur.getEncoder().setPosition(0);
}
@Override @Override
public void periodic() { public void periodic() {