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Author SHA1 Message Date
025d9e47f0 2024-10-23 19:22:23 -04:00
89d155ae5e encodeur 2024-10-23 19:17:48 -04:00
787251658c lanceur encodeur 2024-10-23 18:59:06 -04:00
9 changed files with 180 additions and 0 deletions

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@ -0,0 +1,8 @@
{
"angleJoystickRadiusDeadband": 0.5,
"heading": {
"p": 0.4,
"i": 0,
"d": 0.01
}
}

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@ -0,0 +1,30 @@
{
"location": {
"front": -12.375,
"left": 12.375
},
"absoluteEncoderOffset":209.443,
"drive": {
"type": "sparkmax",
"id": 8,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 9,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 6,
"canbus": null
}
}

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@ -0,0 +1,30 @@
{
"location": {
"front": -12.375,
"left": -12.375
},
"absoluteEncoderOffset": 5.537,
"drive": {
"type": "sparkmax",
"id": 11,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 12,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 7,
"canbus": null
}
}

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@ -0,0 +1,30 @@
{
"location": {
"front": 12.375,
"left": 12.375
},
"absoluteEncoderOffset":258.223 ,
"drive": {
"type": "sparkmax",
"id": 2,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 3,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 4,
"canbus": null
}
}

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@ -0,0 +1,30 @@
{
"location": {
"front": 12.375,
"left": -12.375
},
"absoluteEncoderOffset": 110.215,
"drive": {
"type": "sparkmax",
"id": 18,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 17,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 5,
"canbus": null
}
}

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@ -0,0 +1,16 @@
{
"optimalVoltage": 12,
"wheelGripCoefficientOfFriction": 1.19,
"currentLimit": {
"drive": 40,
"angle": 20
},
"conversionFactor": {
"angle": 16.8,
"drive": 0.04
},
"rampRate": {
"drive": 0.25,
"angle": 0.25
}
}

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@ -0,0 +1,16 @@
{
"drive": {
"p": 0.0020645,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
},
"angle": {
"p": 0.01,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
}
}

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@ -0,0 +1,14 @@
{
"imu": {
"type": "pigeon",
"id": 0,
"canbus": null
},
"invertedIMU": false,
"modules": [
"frontleft.json",
"frontright.json",
"backleft.json",
"backright.json"
]
}

View File

@ -11,6 +11,8 @@ 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 {
@ -20,6 +22,10 @@ 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);