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

Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

Browse Source
This commit is contained in:
EdwardFaucher 2024-10-30 19:41:49 -04:00
commit bdbcf2e38f
1 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/main/java/frc/robot/Subsystems/Lanceur.java
View File

@ -12,17 +12,24 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */
public Lanceur() {}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2)
.withSize(0,0)
.withPosition(1, 4)
.getEntry();
public void encodeur(double distance){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@ -36,6 +43,9 @@ public class Lanceur extends SubsystemBase {
public void lance(double vitesse){
lanceur1.set(vitesse);
}
public void lance(){
lance(vitesse.getDouble(0.2));
}
public void tourelRotation(double x, double y, double rotation){
tourelle.set(rotation);
}