PLS5618/robot-2023
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This commit is contained in:
Antoine PerreaultE 2023-02-08 18:20:19 -05:00
parent 7cde9027c2
commit b237e6d40e
1 changed files with 16 additions and 0 deletions
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16
src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -22,6 +22,22 @@ public class BasePilotable extends SubsystemBase {
final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
public void drive(double xSpeed, double zRotation){
drive.arcadeDrive(xSpeed, zRotation);
}
public double distance(){
return (-avantdroit.getEncoder().getPosition()
+avantgauche.getEncoder().getPosition()
-arrieredroit.getEncoder().getPosition()
+arrieregauche.getEncoder().getPosition()) / 4;
}
public void Reset() {
avantdroit.getEncoder().setPosition(0);
avantgauche.getEncoder().setPosition(0);
arrieredroit.getEncoder().setPosition(0);
arrieregauche.getEncoder().setPosition(0);
}
/** Creates a new BasePilotable. */
public BasePilotable() {
droit.setInverted(true);