From 1476b1eae3dc1dcdaf6a544cec32bcb734435da0 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Mon, 19 Feb 2024 18:29:01 -0500 Subject: [PATCH] --- src/main/java/frc/robot/subsystem/Lanceur.java | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index 7730b2b..220202f 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -33,7 +33,18 @@ public class Lanceur extends SubsystemBase { final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless); final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless); public void pid(){ - lanceur1.getPIDController(); + lanceur1.getPIDController().setP(0.2); + lanceur1.getPIDController().setI(0.2); + lanceur1.getPIDController().setD(0.2); + lanceur2.getPIDController().setP(0.2); + lanceur1.getPIDController().setI(0.2); + lanceur2.getPIDController().setD(0.2); + lanceur3.getPIDController().setP(0.2); + lanceur3.getPIDController().setI(0.2); + lanceur3.getPIDController().setD(0.2); + lanceur4.getPIDController().setP(0.2); + lanceur4.getPIDController().setI(0.2); + lanceur4.getPIDController().setD(0.2); } public void lancer(double vitesse){ lanceur1.set(-vitesse);