PLS5618/pratique-2025
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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));
}