Lancer
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@ -9,14 +9,18 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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public class Accumulateur extends SubsystemBase {
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/** Creates a new Accumulateur. */
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
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final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
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final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
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final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
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public void Deaccumuler(double vitesse){
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Moteuracc2.set(vitesse);
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}
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@ -27,7 +31,9 @@ public class Accumulateur extends SubsystemBase {
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public boolean limitswitch(){
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return limitacc.get();
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}
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public Accumulateur() {}
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public Accumulateur() {
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dashboard.addBoolean("limitacc", this::limitswitch);
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}
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public void Accumuler(double vitesse){
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Moteuracc.set(vitesse);
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Moteuracc2.set(vitesse);
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@ -18,13 +18,13 @@ public class Lanceur extends SubsystemBase {
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public Lanceur() {}
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final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
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final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
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final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
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final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
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final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
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final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
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public void lancer(double vitesse){
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lancer.set(vitesse);
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public void lancer(double vitesse){
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lancer.set(vitesse);
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}
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public void lanceur(){
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public void lanceur(){
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lancer2.follow(lancer);
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lancer3.follow(lancer);
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lancer4.follow(lancer);
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