42 lines
1.3 KiB
Java
42 lines
1.3 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.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.wpilibj.Encoder;
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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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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 tourel = new CANSparkMax(2, MotorType.kBrushed);
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Encoder encoder = new Encoder(0, 1);
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public void encodeur(double distance){
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encoder.setDistancePerPulse(distance);
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}
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public void lance(double vitesse){
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lanceur1.set(vitesse);
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lanceur2.set(-vitesse);
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}
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public void tourelRotation(double vitesse){
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tourel.set(vitesse);
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}
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public void setPID(double p, double i, int d) {
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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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