PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois
2023-03-07 18:53:40 -05:00
parent 42ffd20962
commit 8655fe985a
8 changed files with 19 additions and 82 deletions
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7
src/main/java/frc/robot/subsystems/BasePilotable.java
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@@ -35,7 +35,7 @@ public class BasePilotable extends SubsystemBase {
//gyro
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
.getLayout ("distance", BuiltInLayouts.kList)
.withSize(2, 2);
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
public double getpitch() {
@@ -72,12 +72,11 @@ public void resetGyro(){
/** Creates a new BasePilotable. */
public BasePilotable() {
droit.setInverted(true);
layout .addDouble("distance", this::distance);
}
@Override
public void periodic() {
teb .add("distance",0.1);
teb .add("brakedroit",0.1);
teb .add("brakegauche", 0.1);
}
}