PLS5618/pratique-2025
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samuel desharnais 2024-12-16 18:25:36 -05:00
parent 27ba15f95f
commit a8489dadad
2 changed files with 8 additions and 8 deletions
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8
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -27,15 +27,15 @@ public class Accumulateur extends SubsystemBase {
final WPI_TalonSRX rouesbleues = new WPI_TalonSRX(21); final WPI_TalonSRX rouesbleues = new WPI_TalonSRX(21);
final WPI_TalonSRX roueRouge1 = new WPI_TalonSRX(14); final WPI_TalonSRX roueRouge1 = new WPI_TalonSRX(14);
final WPI_TalonSRX roueRouge2 = new WPI_TalonSRX(22); final WPI_TalonSRX roueRouge2 = new WPI_TalonSRX(22);
final DigitalInput photocell = new DigitalInput(20); final DigitalInput photocell = new DigitalInput(2);
final DigitalInput photocell2 = new DigitalInput(27); final DigitalInput photocell2 = new DigitalInput(5);
public void encodeur(){ public void encodeur(){
} }
public boolean photocell(){ public boolean photocell(){
return photocell.get(); return !photocell.get();
} }
public boolean photocell2(){ public boolean photocell2(){
return photocell2.get(); return !photocell2.get();
} }
public void desaccumule(double vitesse){ public void desaccumule(double vitesse){
strap.set(vitesse); strap.set(vitesse);

8
src/main/java/frc/robot/Subsystems/Lanceur.java
View File

@ -33,8 +33,8 @@ public class Lanceur extends SubsystemBase {
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(17); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(17);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless); final CANSparkMax tourelle = new CANSparkMax(23, MotorType.kBrushless);
final DigitalInput limitswitch1 = new DigitalInput(0); final DigitalInput limitswitch1 = new DigitalInput(4);
final DigitalInput limitswitch2 = new DigitalInput(3); final DigitalInput limitswitch2 = new DigitalInput(3);
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2) dashboard.add("vitesselanceur", 0.2)
@ -79,10 +79,10 @@ public class Lanceur extends SubsystemBase {
lanceur1.config_kD(0, d); lanceur1.config_kD(0, d);
} }
public boolean limitswitch1(){ public boolean limitswitch1(){
return limitswitch1.get(); return !limitswitch1.get();
} }
public boolean limitswitch2(){ public boolean limitswitch2(){
return limitswitch2.get(); return !limitswitch2.get();
} }
@Override @Override
public void periodic() { public void periodic() {