PLS5618/robot-2023
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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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This commit is contained in:
samuel desharnais 2023-02-13 18:43:32 -05:00
commit 7c8f6b19a9
2 changed files with 8 additions and 2 deletions
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4
src/main/java/frc/robot/Constants.java
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@ -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;

6
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -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);