PLS5618/robot-2024
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samuel desharnais 2024-02-17 13:56:50 -05:00
parent 330994bcd1
commit 17e8d85f7e
2 changed files with 3 additions and 7 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -27,6 +27,7 @@ import frc.robot.command.GrimpeurGauche;
import frc.robot.command.GuiderBas;
import frc.robot.command.GuiderHaut;
import frc.robot.command.Lancer;
import frc.robot.command.LancerAmp;
import frc.robot.command.LancerNote;
import frc.robot.command.Lancerampli;
import frc.robot.command.Limelight_tracker;
@ -82,6 +83,7 @@ public class RobotContainer {
manette.x().whileTrue(new PistonFerme(grimpeur));
joystick.button(3).whileTrue(balayer);
joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));

8
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -26,13 +26,7 @@ public class Accumulateur extends SubsystemBase {
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);
public void Deaccumuler(double vitesse){
Moteuracc2.set(-vitesse);
Moteuracc.set(-vitesse);
}
public void moteuraccfollow(){
}
public boolean limitswitch(){
return photocellacc.get();
}