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lanceur encodeur

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This commit is contained in:
samuel desharnais 2024-10-23 18:59:06 -04:00
parent 18e16d5621
commit 787251658c
1 changed files with 6 additions and 0 deletions
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6
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -11,6 +11,8 @@ 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;
public class Lanceur extends SubsystemBase { public class Lanceur extends SubsystemBase {
@ -20,6 +22,10 @@ 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){
encoder.getDistance();
}
public void lance(double vitesse){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);
lanceur2.set(-vitesse); lanceur2.set(-vitesse);