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

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This commit is contained in:
Olivier Dubois
2024-10-28 18:50:46 -04:00
parent 4944f4662b 4f6552202c
commit c3d4b8c43c
2 changed files with 11 additions and 0 deletions
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1
src/main/deploy/pathplanner/navgrid.json Normal file
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10
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@@ -4,7 +4,11 @@
package frc.robot.Subsystems;
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 {
@@ -12,6 +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);
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);
accumulateur2.set(-vitesse);