From fe7bfec0dc5ec47b9e3e968bf5b2c8f371116a1c Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 13 Feb 2023 18:43:30 -0500 Subject: [PATCH] bn --- src/main/java/frc/robot/subsystems/BasePilotable.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 1fb04da..e7e12fc 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -19,13 +19,12 @@ public class BasePilotable extends SubsystemBase { final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless); final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless); final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless); - private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme); - private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme); final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit); final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche); - final DifferentialDrive drive = new DifferentialDrive(gauche, droit); - + final DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme); + final DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme); + public void drive(double xSpeed, double zRotation){ drive.arcadeDrive(xSpeed, zRotation); }