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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)
.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(){

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");
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);