PLS5618/robot-2023
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Message constuctif

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This commit is contained in:
Olivier Dubois 2023-02-08 19:55:20 -05:00
parent c2fbb7f553
commit 077494b9fd
2 changed files with 37 additions and 1 deletions
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8
src/main/java/frc/robot/Constants.java
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@ -5,9 +5,17 @@ public class Constants {
public static int avantgauche = 1;
public static int arrieredroit = 2;
public static int arrieregauche = 3;
public static int leverGratte = 0;
public static int baisserGratte = 1;
// pneumatique
public static int pistonpinceouvre = 0;
public static int pistonpinceferme = 1;
// DIO
public static int limitbd = 0;
public static int limitbg = 2;
public static int limithd = 3;
public static int limithg = 1;

30
src/main/java/frc/robot/subsystems/Gratte.java
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@ -4,12 +4,40 @@
package frc.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.fasterxml.jackson.annotation.JacksonInject.Value;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class Gratte extends SubsystemBase {
private WPI_TalonSRX baisserGratte = new WPI_TalonSRX(Constants.leverGratte);
private WPI_TalonSRX leverGratte = new WPI_TalonSRX(Constants.baisserGratte);
private DigitalInput limithd = new DigitalInput(Constants.limithd);
private DigitalInput limithg = new DigitalInput(Constants.limithg);
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
public boolean hautd(){
return limithd.get();
}
public boolean hautg(){
return limithg.get();
}
public boolean basd(){
return limitbd.get();
}
public boolean basg(){
return limitbg.get();
}
/** Creates a new Gratte. */
public Gratte() {}
public void BaisserLever(double vitesse){
baisserGratte.set(vitesse);
leverGratte.set(vitesse);
}
@Override
public void periodic() {
// This method will be called once per scheduler run