From d709f194b4b81ae2e8a04cf77e316e0b2cfa1534 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 11 Dec 2024 18:06:10 -0500
Subject: [PATCH] roues rouges et bleus + Ids

---
 .../java/frc/robot/Subsystems/Accumulateur.java   | 15 ++++++++++++---
 src/main/java/frc/robot/Subsystems/Lanceur.java   |  6 +++---
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index 9606b3a..d93ed78 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -23,8 +23,10 @@ public class Accumulateur extends SubsystemBase {
       .withPosition(0, 0)
       .getEntry(); 
       
-  final WPI_TalonSRX strap = new WPI_TalonSRX(0);
-  final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10);
+  final WPI_TalonSRX strap = new WPI_TalonSRX(16);
+  final WPI_TalonSRX rouesbleues = new WPI_TalonSRX(21);
+  final WPI_TalonSRX roueRouge1 = new WPI_TalonSRX(14);
+  final WPI_TalonSRX roueRouge2 = new WPI_TalonSRX(22);
   final DigitalInput photocell = new DigitalInput(20);
   final DigitalInput photocell2 = new DigitalInput(21);
   public void encodeur(){
@@ -39,8 +41,15 @@ public class Accumulateur extends SubsystemBase {
     strap.set(vitesse);
     
   }
+  public void masterslave(){
+    roueRouge2.follow(roueRouge1);
+    roueRouge1.setInverted(true);
+  }
+  public void masterslave2(){
+    rouesbleues.follow(strap);
+  }
   public void Petitlanceur(double vitesse){
-    roueRouge.set(vitesse);
+    roueRouge1.set(vitesse);
   }
   
   public void desaccumule(){
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index c80ae5d..115140c 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -31,8 +31,8 @@ public class Lanceur extends SubsystemBase {
 }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
-  final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
-  final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
+  final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(17);
+  final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15);
   final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
   final DigitalInput limitswitch1 = new DigitalInput(0);
   final DigitalInput limitswitch2 = new DigitalInput(1);
@@ -55,7 +55,7 @@ public class Lanceur extends SubsystemBase {
   }
   public void masterslave(){
     lanceur2.follow(lanceur1);
-    lanceur2.setInverted(true);
+    lanceur1.setInverted(true);
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);