50 lines
1.2 KiB
Java
50 lines
1.2 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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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 frc.robot.Constants;
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public class Accumulateur extends SubsystemBase {
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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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public Accumulateur() {
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}
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public void Deaccumuler(){
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moteuracc.set(0.5);
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}
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public double tourneavant(){
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moteuracc.set(0.5);
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return(moteuracc.getSelectedSensorPosition());
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}
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public double tournearriere(){
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moteuracc.set(-0.5);
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return(moteuracc.getSelectedSensorPosition());
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}
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public void stop(){
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moteuracc.set(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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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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