diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index e46be4b..8fc2828 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,12 +1,12 @@ package frc.robot; public class Constants { - public static int avantdroit = 0; - public static int avantgauche = 1; - public static int arrieredroit = 2; - public static int arrieregauche = 3; + public static int avantdroit = 1; + public static int avantgauche = 4; + public static int arrieredroit = 3; + public static int arrieregauche = 5; public static int BrasTelescopique = 4; - public static int pivot = 5; + public static int pivot = 0; //moteur public static int leverGratte = 0; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index de3edd1..43c48c1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -23,6 +22,7 @@ import frc.robot.subsystems.bras.BrasTelescopique; import frc.robot.subsystems.bras.Pince; import frc.robot.subsystems.bras.Pivot; import frc.robot.subsystems.Limelight; +import frc.robot.commands.Apriltag; // command import frc.robot.commands.BrakeFerme; import frc.robot.commands.BrakeOuvre; @@ -30,17 +30,25 @@ import frc.robot.commands.Cone; import frc.robot.commands.GratteBaisser; import frc.robot.commands.GratteMonte; import frc.robot.commands.Gyro; -import frc.robot.commands.Reculer; import frc.robot.commands.bras.FermePince; import frc.robot.commands.bras.OuvrePince; import frc.robot.commands.bras.PivotBrasRentre; import frc.robot.commands.bras.PivoteBrasBas; import frc.robot.commands.bras.PivoteBrasHaut; import frc.robot.commands.bras.PivoteBrasMilieux; +//subsystems +import frc.robot.commands.bras.PivotChercheBas; +import frc.robot.commands.bras.PivotChercheHaut; +import frc.robot.commands.Cube; +import frc.robot.commands.Tape; public class RobotContainer { +<<<<<<< HEAD +======= +//CameraServer.startAutomaticCapture(); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e CommandXboxController manette1 = new CommandXboxController(0); CommandXboxController manette2 = new CommandXboxController(1); // subsystems @@ -49,7 +57,7 @@ Gratte gratte = new Gratte(); BrasTelescopique brasTelescopique = new BrasTelescopique(); Pince pince = new Pince(); Pivot pivot = new Pivot(); -Limelight limelight = new Limelight(); +Limelight limelight = new Limelight();/** */ //commands BrakeFerme brakeFerme = new BrakeFerme(basePilotable); BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable); @@ -73,6 +81,12 @@ String nulpart = "nul part"; ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto"); GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry(); GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry(); +PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot); +PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot); +Cube cube = new Cube(limelight, basePilotable, null); +Apriltag aprilTag = new Apriltag(limelight, basePilotable, null); +Tape tape = new Tape(limelight, basePilotable, null); + public RobotContainer() { chooser.setDefaultOption(enhaut, enhaut); chooser.addOption(enbas, enbas); @@ -82,16 +96,25 @@ public RobotContainer() { configureBindings(); - + CameraServer.startAutomaticCapture(); basePilotable.setDefaultCommand(new RunCommand(() -> { - basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX()); + basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0); },basePilotable)); } - + private void configureBindings() { + basePilotable.setDefaultCommand(new RunCommand(() -> { + basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX(), 0); + },basePilotable)); + // manette 1 + manette1.povDown().onTrue(pivoteBrasHaut); + manette1.povUp().onTrue(pivoteBrasBas); + manette1.povLeft().onTrue(pivoteBrasMilieux); + manette1.povRight().onTrue(pivotBrasRentre); manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince)); manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable)); +<<<<<<< HEAD manette1.y().whileTrue(gyro); manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte)); @@ -122,5 +145,27 @@ public RobotContainer() { ); +======= + manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut)); + manette1.leftBumper().toggleOnTrue(cube); + manette1.rightBumper().toggleOnTrue(cone); + // manette 2 + manette2.y().whileTrue(gyro); + manette2.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable)); + manette2.povRight().onTrue(pivotChercheBas); + manette2.povLeft().onTrue(pivotChercheHaut); + manette2.rightBumper().toggleOnTrue(aprilTag); + manette2.leftBumper().toggleOnTrue(tape); + } + + public Command getAutonomousCommand() { + return null; + //return new SequentialCommandGroup( + //new PivoteBrasMilieux(brasTelescopique, pivot), + //new OuvrePince(pince), + //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)), + //new Gyro(basePilotable) + //); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e } } diff --git a/src/main/java/frc/robot/commands/Apriltag.java b/src/main/java/frc/robot/commands/Apriltag.java index 9ef54b3..3ef6b06 100644 --- a/src/main/java/frc/robot/commands/Apriltag.java +++ b/src/main/java/frc/robot/commands/Apriltag.java @@ -32,7 +32,7 @@ public class Apriltag extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Cone.java b/src/main/java/frc/robot/commands/Cone.java index d780293..8121b19 100644 --- a/src/main/java/frc/robot/commands/Cone.java +++ b/src/main/java/frc/robot/commands/Cone.java @@ -32,7 +32,7 @@ public class Cone extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Cube.java b/src/main/java/frc/robot/commands/Cube.java index d54839e..2bd023f 100644 --- a/src/main/java/frc/robot/commands/Cube.java +++ b/src/main/java/frc/robot/commands/Cube.java @@ -32,7 +32,7 @@ public class Cube extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java index 8984475..61c7240 100644 --- a/src/main/java/frc/robot/commands/GratteBaisser.java +++ b/src/main/java/frc/robot/commands/GratteBaisser.java @@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase { // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + gratte.setenHaut(false); + } // Called every time the scheduler runs while the command is scheduled. @Override @@ -41,9 +43,7 @@ public class GratteBaisser extends CommandBase { // Called once the command ends or is interrupted. @Override - public void end(boolean interrupted) { - - } + public void end(boolean interrupted) {} // Returns true when the command should end. @Override diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java index 3581712..507b90d 100644 --- a/src/main/java/frc/robot/commands/GratteMonte.java +++ b/src/main/java/frc/robot/commands/GratteMonte.java @@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase { // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + gratte.setenHaut(true); + } // Called every time the scheduler runs while the command is scheduled. @Override diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java index 06271ec..6a758d0 100644 --- a/src/main/java/frc/robot/commands/Gyro.java +++ b/src/main/java/frc/robot/commands/Gyro.java @@ -4,13 +4,18 @@ package frc.robot.commands; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.subsystems.BasePilotable; public class Gyro extends CommandBase { + ShuffleboardTab teb = Shuffleboard.getTab("teb"); private BasePilotable basePilotable; /** Creates a new Gyro. */ public Gyro(BasePilotable basePilotable) { + teb.add("angleGyro", 0.1); + teb.add("vitesseGyro", 0.1); this.basePilotable = basePilotable; // Use addRequirements() here to declare subsystem dependencies. addRequirements(basePilotable); @@ -25,15 +30,20 @@ public class Gyro extends CommandBase { public void execute() { if(basePilotable.getpitch()>10) { - basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0); } else if(basePilotable.getpitch()<-10) { - basePilotable.drive(0.3*basePilotable.getpitch()/15, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0); + basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0); + } + else if(basePilotable.getpitch()<-4) + { + basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0); } else { - basePilotable.drive(0, 0); + basePilotable.drive(0, 0, 0); } } diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java index 7ff9989..674ef40 100644 --- a/src/main/java/frc/robot/commands/Reculer.java +++ b/src/main/java/frc/robot/commands/Reculer.java @@ -27,7 +27,7 @@ public class Reculer extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0); + basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/Tape.java b/src/main/java/frc/robot/commands/Tape.java index e1346f0..e240da4 100644 --- a/src/main/java/frc/robot/commands/Tape.java +++ b/src/main/java/frc/robot/commands/Tape.java @@ -32,7 +32,7 @@ public class Tape extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw()); + basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 4cbec8e..cc90ca1 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -7,8 +7,8 @@ package frc.robot.subsystems; import com.kauailabs.navx.frc.AHRS; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj.DoubleSolenoid; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.drive.DifferentialDrive; @@ -21,11 +21,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BasePilotable extends SubsystemBase { - final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless); + final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless); 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); - final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit); + final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit); final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche); final DifferentialDrive drive = new DifferentialDrive(gauche, droit); @@ -35,28 +35,34 @@ public class BasePilotable extends SubsystemBase { //gyro ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") - .getLayout ("distance", BuiltInLayouts.kList) + .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList) .withSize(2, 2); private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();} public double getpitch() { return gyroscope.getPitch(); } - public void drive(double xSpeed, double zRotation){ + public void drive(double xSpeed, double zRotation, int i){ drive.arcadeDrive(xSpeed, zRotation); } public double distance(){ - return (-avantd.getEncoder().getPosition() + teb .add ("distance",0.1); + return (-avantdroit.getEncoder().getPosition() +avantgauche.getEncoder().getPosition() -arrieredroit.getEncoder().getPosition() +arrieregauche.getEncoder().getPosition()) / 4; } public void Reset() { - avantd.getEncoder().setPosition(0); + avantdroit.getEncoder().setPosition(0); avantgauche.getEncoder().setPosition(0); arrieredroit.getEncoder().setPosition(0); arrieregauche.getEncoder().setPosition(0); } + public void resetGyro(){ + {gyroscope.reset(); + } + } + public void BrakeOuvre(){ brakedroit.set(Value.kForward); brakegauche.set(Value.kForward); @@ -65,17 +71,13 @@ public void BrakeFerme(){ brakedroit.set(Value.kReverse); brakegauche.set(Value.kReverse); } -public void resetGyro(){ - {gyroscope.reset();} - } /** Creates a new BasePilotable. */ public BasePilotable() { droit.setInverted(true); - layout .addDouble("distance", this::distance); } @Override public void periodic() { - + } -} \ No newline at end of file +} diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 4fefe9f..acf7ede 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -3,7 +3,6 @@ // the WPILib BSD license file in the root directory of this project. package frc.robot.subsystems; - import edu.wpi.first.wpilibj2.command.SubsystemBase; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; @@ -14,7 +13,11 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import frc.robot.Constants; public class Gratte extends SubsystemBase { +<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); +======= +ShuffleboardTab teb = Shuffleboard.getTab("teb"); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") .getLayout("limitswitchsgratte", BuiltInLayouts.kList) .withSize(2, 2); @@ -24,8 +27,16 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb") private DigitalInput limithg = new DigitalInput(Constants.limithg); private DigitalInput limitbd = new DigitalInput(Constants.limitbd); private DigitalInput limitbg = new DigitalInput(Constants.limitbg); -public boolean baiser; - + public boolean baiser; + boolean enHaut = true; + public void setenHaut(boolean enHaut){ + this.enHaut = enHaut; + } + public boolean getenHaut(){ + return enHaut; + + } + public boolean hautd(){ return limithd.get(); } @@ -34,14 +45,19 @@ public boolean baiser; return limithg.get(); } - public boolean basd(int i, String string){ + public boolean basd(){ return limitbd.get(); } public boolean basg(){ return limitbg.get(); } - /** Creates a new Gratte. */ - public Gratte() {} + + public Gratte() { + limitswitchgratte.add ("limitbd", 0.1); + limitswitchgratte.add ("limithg", 0.1); + limitswitchgratte.add ("limithd", 0.1); + limitswitchgratte.add ("limitbg", 0.1); + } public void Lever(double vitesse){ Gratted.set(vitesse); Gratteg.set(vitesse); @@ -51,18 +67,6 @@ public boolean baiser; Gratteg.set(-vitesse); } @Override - public void periodic() { - teb .add("limithd", 0.1); - teb .add("limithg", 0.1); - teb .add("limitbd", 0.1); - teb .add("limitbg", 0.1); - limitswitchgratte.add ("limitbd", 0.1); - limitswitchgratte.add ("limithg", 0.1); - limitswitchgratte.add ("limithd", 0.1); - limitswitchgratte.add ("limitbg", 0.1); - } - -public boolean basd() { - return false; -} -} + public void periodic(){ + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java index 58d30f8..abdddaf 100644 --- a/src/main/java/frc/robot/subsystems/Limelight.java +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase { PhotonCamera limelight = new PhotonCamera("limelight"); /** Creates a new Limelight. */ public Limelight() { + CameraServer.startAutomaticCapture(); + teb .add("limelight", 0.1); PortForwarder.add(5800, "photonvision.local", 5800); } @@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase { } @Override public void periodic() { - CameraServer.startAutomaticCapture(); - teb .add("limelight", 0.1); } } diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java index 8ddbd77..1ffdf3d 100644 --- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java +++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java @@ -12,14 +12,13 @@ import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; -import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; public class BrasTelescopique extends SubsystemBase { +<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardLayout layout = Shuffleboard.getTab("teb") .getLayout("layout", BuiltInLayouts.kList) @@ -28,8 +27,14 @@ public class BrasTelescopique extends SubsystemBase { ShuffleboardLayout bras = Shuffleboard.getTab("teb") .getLayout("bras", BuiltInLayouts.kList) .withSize(2, 2); +======= + ShuffleboardTab teb = Shuffleboard.getTab("teb"); +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e /** Creates a new BrasTelescopique. */ - public BrasTelescopique() {} + public BrasTelescopique() { + teb .add("photocell",0.1); + teb .add("winch",0.1); + teb .add("encodeur",0.1);} final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless); private DigitalInput photocell = new DigitalInput(Constants.photocell); private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb); @@ -53,8 +58,6 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb") } @Override public void periodic() { - teb .add("photocell",0.1); - teb .add("winch",0.1); - bras.add ("encodeur",0.1); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java index a8a7c81..6044d4c 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pince.java +++ b/src/main/java/frc/robot/subsystems/bras/Pince.java @@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj.DoubleSolenoid.Value; - import frc.robot.Constants; diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java index acab25c..0db4639 100644 --- a/src/main/java/frc/robot/subsystems/bras/Pivot.java +++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java @@ -14,7 +14,12 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; public class Pivot extends SubsystemBase { +<<<<<<< HEAD ShuffleboardTab teb = Shuffleboard.getTab("teb"); +======= + ShuffleboardTab teb = Shuffleboard.getTab("teb"); + +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e // moteur private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless); private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot); @@ -23,6 +28,10 @@ public class Pivot extends SubsystemBase { public void monteDescendre(double vitesse) { pivot.set (vitesse); } + public Pivot(){ + teb .add ("encodeurpivot",0.1); + teb .add ("limitpivot",0.1); + } // encodeur public double distance(){ return (pivot.getEncoder().getPosition()); @@ -36,9 +45,8 @@ public class Pivot extends SubsystemBase { } @Override public void periodic() { - teb .add("encodeur", 0.1); - teb .add ("encodeur pivot",0.1); } +<<<<<<< HEAD @@ -47,3 +55,7 @@ public class Pivot extends SubsystemBase { teb.add ("encodeur pivot",0.1); } } +======= +} + +>>>>>>> fc4607f3c6d7203a155182eded4626d37f75de5e