PLS5618/robot-2024
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samuel desharnais 2024-02-19 18:29:01 -05:00
parent 4f273585f6
commit 1476b1eae3
1 changed files with 12 additions and 1 deletions
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13
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -33,7 +33,18 @@ public class Lanceur extends SubsystemBase {
final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless); final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless); final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
public void pid(){ 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){ public void lancer(double vitesse){
lanceur1.set(-vitesse); lanceur1.set(-vitesse);