40 lines
1.0 KiB
Java
40 lines
1.0 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.subsystems;
|
|
|
|
|
|
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 WPI_TalonSRX moteuracc = new WPI_TalonSRX(Constants.accumulateur);
|
|
private DigitalInput limitacc = new DigitalInput(Constants.ballon);
|
|
/** Creates a new Accumulateur. */
|
|
public Accumulateur() {
|
|
|
|
}
|
|
public void Deaccumuler(){
|
|
moteuracc.set(0.5);
|
|
}
|
|
|
|
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
|
|
}
|
|
}
|