From 6bec6011ca2125606075311f48c76e23c853d739 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 18:52:38 -0400
Subject: [PATCH] encodeur

---
 src/main/java/frc/robot/Subsystems/Lanceur.java | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index bd03482..1a6c4a6 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -6,11 +6,13 @@ package frc.robot.Subsystems;
 
 
 
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-import edu.wpi.first.wpilibj.Encoder;
+
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -21,9 +23,11 @@ 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);
-  Encoder encoder = new Encoder(0, 1);
   public void encodeur(double distance){
-    encoder.setDistancePerPulse(distance);
+    lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+    lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);