From 5dc8b1553d64a94b23f176ae2fc53f5abd26faae Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 21 Oct 2024 19:58:56 -0400 Subject: [PATCH 1/2] moteur --- src/main/java/frc/robot/Subsystems/Lanceur.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java index 9d70df5..fc7ea73 100644 --- a/src/main/java/frc/robot/Subsystems/Lanceur.java +++ b/src/main/java/frc/robot/Subsystems/Lanceur.java @@ -5,6 +5,8 @@ package frc.robot.Subsystems; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkLowLevel.MotorType; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -13,6 +15,8 @@ public class Lanceur extends SubsystemBase { public Lanceur() {} final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); + final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); + final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed); @Override public void periodic() { // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run From 04909cb24cff4df1d1a23c1eabbbf72a18945da2 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 21 Oct 2024 20:01:10 -0400 Subject: [PATCH 2/2] --- src/main/java/frc/robot/Subsystems/Lanceur.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java index fc7ea73..1b4bf05 100644 --- a/src/main/java/frc/robot/Subsystems/Lanceur.java +++ b/src/main/java/frc/robot/Subsystems/Lanceur.java @@ -17,6 +17,10 @@ public class Lanceur extends SubsystemBase { final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed); + public void lance(double vitesse){ + lanceur1.set(vitesse); + lanceur2.set(-vitesse); + } @Override public void periodic() { // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run