PLS5618/betabot-2024
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
samuel desharnais 2023-10-24 19:47:30 -04:00
commit 6037e53f92
2 changed files with 26 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
src/main/java/frc/robot/subsystems/Accumulateur.java
View File

@ -5,14 +5,15 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
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);
private DigitalInput limitacc = new DigitalInput(Constants.ballon);
/** Creates a new Accumulateur. */
public Accumulateur() {
@ -20,12 +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

14
src/main/java/frc/robot/subsystems/Lanceur.java
View File

@ -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() {