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base: PLS5618:5e39e6fc4d92bcdcc54fbfefca50f05d0e5337be
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PLS5618:Lanceur
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compare: PLS5618:e1111511b7e44ecdee78899192bb2d0acd3d3f32
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PLS5618:Lanceur

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src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -6,13 +6,11 @@ package frc.robot.Subsystems;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
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;
@ -23,11 +21,9 @@ 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){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
encoder.setDistancePerPulse(distance);
}
public void lance(double vitesse){
lanceur1.set(vitesse);