Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024
This commit is contained in:
commit
6037e53f92
@ -5,14 +5,15 @@
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package frc.robot.subsystems;
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package frc.robot.subsystems;
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import edu.wpi.first.wpilibj.Encoder;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj.motorcontrol.Talon;
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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 edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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import frc.robot.Constants;
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public class Accumulateur extends SubsystemBase {
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public class Accumulateur extends SubsystemBase {
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private Talon moteuracc = new Talon(Constants.accumulateur);
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private WPI_TalonSRX moteuracc = new WPI_TalonSRX(Constants.accumulateur);
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private DigitalInput limitacc = new DigitalInput(Constants.ballon);
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/** Creates a new Accumulateur. */
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/** Creates a new Accumulateur. */
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public Accumulateur() {
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public Accumulateur() {
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@ -20,12 +21,17 @@ public class Accumulateur extends SubsystemBase {
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public void Deaccumuler(double vitesse){
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public void Deaccumuler(double vitesse){
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moteuracc.set(vitesse);
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moteuracc.set(vitesse);
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}
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}
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//public double distance() {
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// return(moteuracc.getEncoder().getPosition());
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public boolean limit(){
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// }
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return limitacc.get();
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//public void Reset() {
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}
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// moteuracc.getEncoder().setPosition(0);
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// }
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public double distance() {
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return(moteuracc.getSelectedSensorPosition());
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}
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public void Reset() {
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moteuracc.setSelectedSensorPosition(0);
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}
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@Override
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@Override
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public void periodic() {
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public void periodic() {
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// This method will be called once per scheduler run
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// This method will be called once per scheduler run
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@ -18,10 +18,16 @@ public class Lanceur extends SubsystemBase {
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public void lancer(double vitesse){
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public void lancer(double vitesse){
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lanceur.set(vitesse);
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lanceur.set(vitesse);
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}
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}
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// Encodeur
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// public double distance(){
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// encodeur
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// return(lanceur.getEncoder().getPosition());
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public double vitesse() {
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// }
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return(lanceur.getEncoder().getPosition());
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}
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public void Reset() {
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lanceur.getEncoder().setPosition(0);
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}
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@Override
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@Override
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public void periodic() {
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public void periodic() {
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