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roues rouges et bleus + Ids

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This commit is contained in:
Olivier Dubois 2024-12-11 18:06:10 -05:00
parent dde21cddfd
commit d709f194b4
2 changed files with 15 additions and 6 deletions
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15
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -23,8 +23,10 @@ public class Accumulateur extends SubsystemBase {
.withPosition(0, 0) .withPosition(0, 0)
.getEntry(); .getEntry();
final WPI_TalonSRX strap = new WPI_TalonSRX(0); final WPI_TalonSRX strap = new WPI_TalonSRX(16);
final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10); 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 photocell = new DigitalInput(20);
final DigitalInput photocell2 = new DigitalInput(21); final DigitalInput photocell2 = new DigitalInput(21);
public void encodeur(){ public void encodeur(){
@ -39,8 +41,15 @@ public class Accumulateur extends SubsystemBase {
strap.set(vitesse); strap.set(vitesse);
} }
public void masterslave(){
roueRouge2.follow(roueRouge1);
roueRouge1.setInverted(true);
}
public void masterslave2(){
rouesbleues.follow(strap);
}
public void Petitlanceur(double vitesse){ public void Petitlanceur(double vitesse){
roueRouge.set(vitesse); roueRouge1.set(vitesse);
} }
public void desaccumule(){ public void desaccumule(){

6
src/main/java/frc/robot/Subsystems/Lanceur.java
View File

@ -31,8 +31,8 @@ public class Lanceur extends SubsystemBase {
} }
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(17);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless); final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
final DigitalInput limitswitch1 = new DigitalInput(0); final DigitalInput limitswitch1 = new DigitalInput(0);
final DigitalInput limitswitch2 = new DigitalInput(1); final DigitalInput limitswitch2 = new DigitalInput(1);
@ -55,7 +55,7 @@ public class Lanceur extends SubsystemBase {
} }
public void masterslave(){ public void masterslave(){
lanceur2.follow(lanceur1); lanceur2.follow(lanceur1);
lanceur2.setInverted(true); lanceur1.setInverted(true);
} }
public void lance(double vitesse){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);