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dashboard + limitswitchs tourel

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This commit is contained in:
Olivier Dubois
2024-11-25 18:32:18 -05:00
parent 899f8f3bf6
commit 03bf04f40e
7 changed files with 75 additions and 21 deletions
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26
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -21,20 +21,25 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */
public Lanceur() {dashboard.add("rottourel", 0.2)
.withSize(0,0)
.withPosition(1, 3);}
public Lanceur() {
dashboard.addBoolean("limitswitch1", this::limitswitch1)
.withSize(0,0).withPosition(1,2);
dashboard.addBoolean("limitswitch2", this::limitswitch2)
.withSize(0,0).withPosition(0,3);
dashboard.addDouble("rottourel", this::distancetourel)
.withSize(0,0).withPosition(1, 0);
}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
final DigitalInput limitswitch1 = new DigitalInput(0);
final DigitalInput limitswitch2 = new DigitalInput(1);
private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2)
.withSize(0,0)
.withPosition(0, 3)
.withPosition(0, 2)
.getEntry();
public void encodeur(double distance){
@ -42,7 +47,12 @@ public class Lanceur extends SubsystemBase {
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
}
public void touchagedelimitswitch1(double distance){
tourelle.getEncoder().setPosition(distance);
}
public void touchagedelimitswitch2(double distance){
tourelle.getEncoder().setPosition(distance);
}
public void masterslave(){
lanceur2.follow(lanceur1);
lanceur2.setInverted(true);
@ -58,10 +68,10 @@ public class Lanceur extends SubsystemBase {
}
public double vitessetourel(){
return(tourelle.getEncoder().getVelocity());
return (tourelle.getEncoder().getVelocity());
}
public double distancetourel(){
return(tourelle.getEncoder().getPosition());
return (tourelle.getEncoder().getPosition());
}
public void PIDlanceur(double p, double i, double d) {
lanceur1.config_kP(0, p);