92 lines
3.1 KiB
Java
92 lines
3.1 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.Subsystems;
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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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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkLowLevel.MotorType;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class Lanceur extends SubsystemBase {
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/** Creates a new Lanceur. */
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public Lanceur() {
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dashboard.addBoolean("limitswitch1", this::limitswitch1)
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.withSize(0,0).withPosition(1,2);
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dashboard.addBoolean("limitswitch2", this::limitswitch2)
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.withSize(0,0).withPosition(0,3);
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dashboard.addDouble("rottourel", this::distancetourel)
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.withSize(0,0).withPosition(1, 0);
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}
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
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final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
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final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
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final DigitalInput limitswitch1 = new DigitalInput(0);
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final DigitalInput limitswitch2 = new DigitalInput(1);
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private GenericEntry vitesse =
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dashboard.add("vitesselanceur", 0.2)
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.withSize(0,0)
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.withPosition(0, 2)
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.getEntry();
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public void encodeur(double distance){
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lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
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lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
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lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
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}
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public void touchagedelimitswitch1(double distance){
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tourelle.getEncoder().setPosition(distance);
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}
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public void touchagedelimitswitch2(double distance){
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tourelle.getEncoder().setPosition(distance);
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}
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public void masterslave(){
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lanceur2.follow(lanceur1);
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lanceur2.setInverted(true);
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}
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public void lance(double vitesse){
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lanceur1.set(vitesse);
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}
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public void lance(){
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lance(vitesse.getDouble(0.2));
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}
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public void tourelRotation(double x, double y, double rotation){
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tourelle.set(rotation);
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}
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public double vitessetourel(){
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return (tourelle.getEncoder().getVelocity());
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}
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public double distancetourel(){
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return (tourelle.getEncoder().getPosition());
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}
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public void PIDlanceur(double p, double i, double d) {
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lanceur1.config_kP(0, p);
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lanceur1.config_kI(0, i);
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lanceur1.config_kD(0, d);
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}
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public boolean limitswitch1(){
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return limitswitch1.get();
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}
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public boolean limitswitch2(){
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return limitswitch2.get();
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}
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@Override
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public void periodic() {
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// This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run
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}
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}
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