54 lines
1.7 KiB
Java
54 lines
1.7 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 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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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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public class Accumulateur extends SubsystemBase {
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/** Creates a new Accumulateur. */
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public Accumulateur() {dashboard.addBoolean("photocell", this::photocell).withSize(1, 1).withPosition(0, 1);
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dashboard.addBoolean("photocell2", this::photocell).withSize(1, 1).withPosition(0, 1);
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}
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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private GenericEntry vitesse =
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dashboard.add("vitesseacc", 0.1)
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.withSize(1, 1)
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.withPosition(0, 4)
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.getEntry();
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final WPI_TalonSRX strap = new WPI_TalonSRX(0);
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final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10);
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final DigitalInput photocell = new DigitalInput(20);
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final DigitalInput photocell2 = new DigitalInput(21);
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public void encodeur(){
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}
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public boolean photocell(){
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return photocell.get();
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}
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public boolean photocell2(){
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return photocell2.get();
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}
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public void desaccumule(double vitesse){
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strap.set(vitesse);
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}
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public void Petitlanceur(double vitesse){
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roueRouge.set(vitesse);
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}
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public void desaccumule(){
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desaccumule(vitesse.getDouble(0.9));
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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 once per scheduler run
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}
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}
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