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encodeur

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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
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1
src/main/deploy/pathplanner/navgrid.json Normal file
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12
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -4,8 +4,11 @@
package frc.robot.Subsystems; package frc.robot.Subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase; 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; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Accumulateur extends SubsystemBase { public class Accumulateur extends SubsystemBase {
@ -13,9 +16,12 @@ public class Accumulateur extends SubsystemBase {
public Accumulateur() {} public Accumulateur() {}
final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0); final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10); final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
Encoder encoder = new Encoder(1,0); final
public void encodeur(){ 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){ public void desaccumule(double vitesse){
accumulateur1.set(vitesse); accumulateur1.set(vitesse);