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base: PLS5618:8d93e7f24ff0017c122b1f3f8324f54f5d2ec1da
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PLS5618:main
PLS5618:Lanceur
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compare: PLS5618:f1406f0db044d260162b58ff0907a0379b3e8c8c
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PLS5618:main
PLS5618:Lanceur

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8d93e7f24f ... f1406f0db0

1 changed files with 2 additions and 12 deletions
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src/main/java/frc/robot/Subsystems/Lanceur.java
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@ -12,24 +12,17 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Lanceur extends SubsystemBase { public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */ /** Creates a new Lanceur. */
public Lanceur() {} public Lanceur() {}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0); final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1); final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed); final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
private GenericEntry vitesse =
dashboard.add("vitesselanceur", 0.2)
.withSize(0,0)
.withPosition(1, 4)
.getEntry();
public void encodeur(double distance){ public void encodeur(double distance){
lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative); lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@ -43,9 +36,6 @@ public class Lanceur extends SubsystemBase {
public void lance(double vitesse){ public void lance(double vitesse){
lanceur1.set(vitesse); lanceur1.set(vitesse);
} }
public void lance(){
lance(vitesse.getDouble(0.2));
}
public void tourelRotation(double x, double y, double rotation){ public void tourelRotation(double x, double y, double rotation){
tourelle.set(rotation); tourelle.set(rotation);
} }