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@ -4,11 +4,8 @@
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package frc.robot.Subsystems;
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import edu.wpi.first.wpilibj.Encoder;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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public class Accumulateur extends SubsystemBase {
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@ -16,12 +13,9 @@ public class Accumulateur extends SubsystemBase {
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public Accumulateur() {}
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final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
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final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
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final
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public void encodeur(){
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accumulateur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
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accumulateur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
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accumulateur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
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accumulateur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
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Encoder encoder = new Encoder(1,0);
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public void resetencodeur(){
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encoder.reset();
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}
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public void desaccumule(double vitesse){
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accumulateur1.set(vitesse);
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