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encodeur

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This commit is contained in:
samuel desharnais 2024-10-28 18:52:38 -04:00
parent 4f6552202c
commit 6bec6011ca
1 changed files with 7 additions and 3 deletions
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10
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -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.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase; 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 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 tourel = new CANSparkMax(2, MotorType.kBrushed);
Encoder encoder = new Encoder(0, 1);
public void encodeur(double distance){ 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){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);