PLS5618/robot-2023
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This commit is contained in:
Antoine PerreaultE 2023-02-13 19:26:19 -05:00
parent 3bd850a25e
commit 1ad56aa6ca
1 changed files with 4 additions and 2 deletions
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src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -24,9 +24,11 @@ public class BasePilotable extends SubsystemBase {
final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
//piston
private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
//gyro
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
public double getpitch() {
return gyroscope.getPitch();
}