PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois 2023-03-07 19:59:45 -05:00
parent 6208839355
commit c8ed4a3ff2
1 changed files with 5 additions and 4 deletions
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9
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -29,7 +29,10 @@ public class BrasTelescopique extends SubsystemBase {
.withSize(2, 2); .withSize(2, 2);
/** Creates a new BrasTelescopique. */ /** Creates a new BrasTelescopique. */
public BrasTelescopique() {} public BrasTelescopique() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
bras.add ("encodeur",0.1);}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell); private DigitalInput photocell = new DigitalInput(Constants.photocell);
private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb); private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
@ -53,8 +56,6 @@ public class BrasTelescopique extends SubsystemBase {
} }
@Override @Override
public void periodic() { public void periodic() {
teb .add("photocell",0.1);
teb .add("winch",0.1);
bras.add ("encodeur",0.1);
} }
} }