PLS5618/pratique-2025
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This commit is contained in:
samuel desharnais 2024-11-04 18:23:33 -05:00
parent 810ea210b1
commit 954c82a7a0
3 changed files with 12 additions and 1 deletions
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2
src/main/deploy/pathplanner/navgrid.json
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8
src/main/java/frc/robot/RobotContainer.java
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@ -8,8 +8,16 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.Subsystems.Accumulateur;
import frc.robot.Subsystems.Drive;
import frc.robot.Subsystems.Lanceur;
import frc.robot.Subsystems.Limelight3G;
public class RobotContainer { public class RobotContainer {
Lanceur lanceur= new Lanceur();
Accumulateur accumulateur = new Accumulateur();
Limelight3G limelight3G = new Limelight3G();
Drive drive = new Drive();
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
public RobotContainer() { public RobotContainer() {
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800") dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")

3
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -48,6 +48,9 @@ public class Lanceur extends SubsystemBase {
public void tourelRotation(double x, double y, double rotation){ public void tourelRotation(double x, double y, double rotation){
tourelle.set(rotation); tourelle.set(rotation);
} }
public double vitessetourel(){
return(tourelle.getEncoder().getVelocity());
}
public double distancetourel(){ public double distancetourel(){
return(tourelle.getEncoder().getPosition()); return(tourelle.getEncoder().getPosition());
} }