PLS5618/pratique-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Olivier Dubois
2024-10-30 19:38:13 -04:00
parent 4ece413126 f1406f0db0
commit 8d93e7f24f
4 changed files with 23 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/main/java/frc/robot/Subsystems/Lanceur.java
View File

@ -34,20 +34,28 @@ public class Lanceur extends SubsystemBase {
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 masterslave(){
lanceur2.follow(lanceur1);
lanceur2.setInverted(true);
}
public void lance(double vitesse){
lanceur1.set(vitesse);
lanceur2.set(-vitesse);
}
public void lance(){
lance(vitesse.getDouble(0.2));
}
public void tourelRotation(double vitesse){
tourelle.set(vitesse);
public void tourelRotation(double x, double y, double rotation){
tourelle.set(rotation);
}
public void setPID(double p, double i, int d) {
public double distancetourel(){
return(tourelle.getEncoder().getPosition());
}
public void PIDlanceur(double p, double i, double d) {
lanceur1.config_kP(0, p);
lanceur1.config_kI(0, i);
lanceur1.config_kD(0, d);
}
@Override
public void periodic() {