PLS5618/pratique-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

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This commit is contained in:
Olivier Dubois 2024-10-28 19:17:37 -04:00
commit 1a899887da
1 changed files with 3 additions and 2 deletions
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src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -22,19 +22,20 @@ public class Lanceur extends SubsystemBase {
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed); final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
public void encodeur(double distance){ public void encodeur(double distance){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1); lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1); lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
lanceur1.configFactoryDefault();
} }
public void lance(double vitesse){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);
lanceur2.set(-vitesse); lanceur2.set(-vitesse);
} }
public void tourelRotation(double vitesse){ public void tourelRotation(double vitesse){
tourel.set(vitesse); tourelle.set(vitesse);
} }
public void setPID(double p, double i, int d) { public void setPID(double p, double i, int d) {
} }