PLS5618/robot-2024
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This commit is contained in:
samuel desharnais 2024-02-21 18:26:29 -05:00
parent 41cf87c97c
commit 1b670b9685
2 changed files with 1 additions and 5 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -111,10 +111,6 @@ public class RobotContainer {
,grimpeur)); ,grimpeur));
LED.setDefaultCommand(allumeLED); LED.setDefaultCommand(allumeLED);
dashboard.add("autochooser",autoChooser)
.withSize(2,1)
.withPosition(1,1);
} }
private void configureBindings() {} private void configureBindings() {}

2
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -78,7 +78,7 @@ public class Lanceur extends SubsystemBase {
log.motor("shooter-wheel") log.motor("shooter-wheel")
.voltage( .voltage(
appliedVoltage.mut_replace( appliedVoltage.mut_replace(
lanceur4.get() * RobotController.getBatteryVoltage(), Volts)) lanceur4.getAppliedOutput() * lanceur4.getBusVoltage(), Volts))
.angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations)) .angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations))
.angularVelocity( .angularVelocity(
velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond)); velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond));