Merge branch 'main' of https://demerso.net/pls5618/2023/robot
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commit
1dc859cb74
@ -19,12 +19,11 @@ public class BasePilotable extends SubsystemBase {
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final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
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final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
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final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
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final DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
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final DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
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final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
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final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
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final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
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final DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
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final DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
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public void drive(double xSpeed, double zRotation){
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drive.arcadeDrive(xSpeed, zRotation);
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