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

encodeur

Browse Source
This commit is contained in:
samuel desharnais
2024-10-28 18:45:10 -04:00
parent ea96a16864
commit adb6d5554f
2 changed files with 10 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/main/java/frc/robot/Subsystems/Accumulateur.java
View File

@@ -4,8 +4,11 @@
package frc.robot.Subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Accumulateur extends SubsystemBase {
@@ -13,9 +16,12 @@ public class Accumulateur extends SubsystemBase {
public Accumulateur() {}
final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
Encoder encoder = new Encoder(1,0);
final
public void encodeur(){
accumulateur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
accumulateur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
accumulateur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
accumulateur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
}
public void desaccumule(double vitesse){
accumulateur1.set(vitesse);