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base: PLS5618:4f6552202c1c2071515a9f1b5f473efa8e691d7a
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PLS5618:main
PLS5618:Lanceur
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compare: PLS5618:eca7bb1891f1a731c39352c0babf2687420282d0
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PLS5618:main
PLS5618:Lanceur

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4f6552202c ... eca7bb1891

2 changed files with 4 additions and 11 deletions
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src/main/deploy/pathplanner/navgrid.json
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14
src/main/java/frc/robot/Subsystems/Accumulateur.java
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@ -4,11 +4,8 @@
package frc.robot.Subsystems; package frc.robot.Subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Accumulateur extends SubsystemBase { public class Accumulateur extends SubsystemBase {
@ -16,12 +13,9 @@ public class Accumulateur extends SubsystemBase {
public Accumulateur() {} public Accumulateur() {}
final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0); final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10); final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
final Encoder encoder = new Encoder(1,0);
public void encodeur(){ public void resetencodeur(){
accumulateur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); encoder.reset();
accumulateur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
accumulateur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
accumulateur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
} }
public void desaccumule(double vitesse){ public void desaccumule(double vitesse){
accumulateur1.set(vitesse); accumulateur1.set(vitesse);