PLS5618/pratique-2025
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This commit is contained in:
Olivier Dubois
2024-11-04 18:24:47 -05:00
parent 8d93e7f24f
commit bf63394d77
4 changed files with 26 additions and 7 deletions
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13
src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -30,6 +30,11 @@ public class Lanceur extends SubsystemBase {
.withSize(0,0)
.withPosition(1, 4)
.getEntry();
private GenericEntry rotation =
dashboard.add("rottourel", 0.2)
.withSize(0,0)
.withPosition(1, 5)
.getEntry();
public void encodeur(double distance){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@ -41,7 +46,7 @@ public class Lanceur extends SubsystemBase {
lanceur2.setInverted(true);
}
public void lance(double vitesse){
lanceur1.set(vitesse);
lanceur1.set(vitesse);lanceur2.set(vitesse);
}
public void lance(){
lance(vitesse.getDouble(0.2));
@ -49,6 +54,12 @@ 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 void vitesseTourel(){
tourelle.set(0.1);
}
public double distancetourel(){
return(tourelle.getEncoder().getPosition());
}