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acc + update dash

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This commit is contained in:
Olivier Dubois
2024-11-13 18:56:31 -05:00
parent 4ddd030426
commit ab36e8dadf
4 changed files with 24 additions and 21 deletions
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21
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -12,8 +12,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */
public Accumulateur() {dashboard.addBoolean("photocellacc", this::photocell).withSize(1, 1).withPosition(0, 1);
dashboard.addBoolean("photocellacc2", this::photocell).withSize(1, 1).withPosition(0, 1);
public Accumulateur() {dashboard.addBoolean("photocell", this::photocell).withSize(1, 1).withPosition(0, 1);
dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(0, 1);
}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
@ -23,8 +23,8 @@ public class Accumulateur extends SubsystemBase {
.withPosition(0, 4)
.getEntry();
final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
final WPI_TalonSRX strap = new WPI_TalonSRX(0);
final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10);
final DigitalInput photocell = new DigitalInput(20);
final DigitalInput photocell2 = new DigitalInput(21);
public void encodeur(){
@ -32,10 +32,17 @@ public class Accumulateur extends SubsystemBase {
public boolean photocell(){
return photocell.get();
}
public void desaccumule(double vitesse){
accumulateur1.set(vitesse);
accumulateur2.set(-vitesse);
public boolean photocell2(){
return photocell2.get();
}
public void desaccumule(double vitesse){
strap.set(vitesse);
}
public void Petitlanceur(double vitesse){
roueRouge.set(vitesse);
}
public void desaccumule(){
desaccumule(vitesse.getDouble(0.9));
}

16
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -19,7 +19,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */
public Lanceur() {}
public Lanceur() {dashboard.add("rottourel", 0.2)
.withSize(0,0)
.withPosition(1, 3);}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
@ -28,13 +30,9 @@ public class Lanceur extends SubsystemBase {
private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2)
.withSize(0,0)
.withPosition(1, 4)
.getEntry();
private GenericEntry rotation =
dashboard.add("rottourel", 0.2)
.withSize(0,0)
.withPosition(1, 5)
.withPosition(0, 3)
.getEntry();
public void encodeur(double distance){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@ -53,9 +51,7 @@ public class Lanceur extends SubsystemBase {
public void tourelRotation(double x, double y, double rotation){
tourelle.set(rotation);
}
public void tourelRotation(){
tourelle.set(rotation.getDouble(0.1));
}
public double vitessetourel(){
return(tourelle.getEncoder().getVelocity());
}