From 72ddcc2032c925134f7fcf0ccabf482b8e101636 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 13 Feb 2023 18:31:48 -0500 Subject: [PATCH 1/2] d --- src/main/java/frc/robot/Constants.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 22cff35..196a748 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -11,7 +11,9 @@ public class Constants { // pneumatique public static int pistonpinceouvre = 0; public static int pistonpinceferme = 1; - public static int actuateur = 4; + public static int actuateur = 2; + public static int brakedroit = 3; + public static int brakegauche = 4; // DIO public static int limitbd = 0; public static int limitbg = 2; From dfad6aeed99543ecb5e3a15e39c8c55e36dbaee7 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 13 Feb 2023 18:34:10 -0500 Subject: [PATCH 2/2] s --- src/main/java/frc/robot/subsystems/BasePilotable.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 1379188..1fb04da 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -6,6 +6,9 @@ package frc.robot.subsystems; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; + +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -16,7 +19,8 @@ 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);