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changer spark a talon accumulateur

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This commit is contained in:
Olivier Dubois 2023-10-24 18:05:43 -04:00
parent d36e048781
commit 84d23df96f
1 changed files with 10 additions and 9 deletions
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19
src/main/java/frc/robot/subsystems/Accumulateur.java
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@ -4,14 +4,15 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
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 CANSparkMax moteuracc = new CANSparkMax(Constants.accumulateur, MotorType.kBrushless); private Talon moteuracc = new Talon(Constants.accumulateur);
/** Creates a new Accumulateur. */ /** Creates a new Accumulateur. */
public Accumulateur() { public Accumulateur() {
@ -19,12 +20,12 @@ public class Accumulateur extends SubsystemBase {
public void Deaccumuler(double vitesse){ public void Deaccumuler(double vitesse){
moteuracc.set(vitesse); moteuracc.set(vitesse);
} }
public double distance() { //public double distance() {
return(moteuracc.getEncoder().getPosition()); // return(moteuracc.getEncoder().getPosition());
} // }
public void Reset() { //public void Reset() {
moteuracc.getEncoder().setPosition(0); // moteuracc.getEncoder().setPosition(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