PLS5618/robot-2023
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This commit is contained in:
EdwardFaucher
2023-03-13 18:47:31 -04:00
parent de5b5213cb
commit 6ba1dfbb2c
19 changed files with 256 additions and 156 deletions
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12
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@@ -15,24 +15,18 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class BrasTelescopique extends SubsystemBase {
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout("layout", BuiltInLayouts.kList)
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardLayout bras = Shuffleboard.getTab("teb")
.getLayout("bras", BuiltInLayouts.kList)
.withSize(2, 2);
ShuffleboardTab teb = Shuffleboard.getTab("teb");
/** Creates a new BrasTelescopique. */
public BrasTelescopique() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
teb .add("encodeur",0.1);
layout .addBoolean("photocell",this::photocell);
layout .addDouble("encodeur",this::distance);
}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell);

2
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@@ -38,7 +38,7 @@ public class Pivot extends SubsystemBase {
}
public boolean limitpivot(){
return limitpivot.get();
return !limitpivot.get();
}
@Override
public void periodic() {