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

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Olivier Dubois
2023-02-13 19:08:44 -05:00
parent 9d15b3410b 1dc859cb74
commit aef6b46ed1
3 changed files with 0 additions and 3 deletions
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src/main/java/frc/robot/subsystems/BasePilotable.java
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@@ -20,11 +20,8 @@ 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);
final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}