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
2024-10-23 19:22:12 -04:00
parent ae9e9577c2 89d155ae5e
commit f0cdb9a241
1 changed files with 6 additions and 0 deletions
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6
src/main/java/frc/robot/Subsystems/Lanceur.java
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@@ -10,6 +10,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Lanceur extends SubsystemBase {
@@ -19,6 +21,10 @@ public class Lanceur extends SubsystemBase {
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
Encoder encoder = new Encoder(0, 1);
public void encodeur(double distance){
encoder.setDistancePerPulse(distance);
}
public void lance(double vitesse){
lanceur1.set(vitesse);
lanceur2.set(-vitesse);