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Lancer

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This commit is contained in:
Olivier Dubois 2024-01-25 20:06:27 -05:00
parent ded9cadcad
commit 1d6fe9fc3c
3 changed files with 30 additions and 10 deletions
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18
src/main/java/frc/robot/command/Lancer.java
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@ -4,12 +4,22 @@
package frc.robot.command; package frc.robot.command;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Accumulateur;
import frc.robot.subsystem.Lanceur;
public class Lancer extends Command { public class Lancer extends Command {
/** Creates a new Lanceur. */ /** Creates a new Lanceur. */
private Lanceur lancer;
private Lanceur lancer2;
private Lanceur lancer3;
private Lanceur lancer4;
public Lancer() { public Lancer() {
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
addRequirements(lancer,lancer2,lancer3,lancer4);
} }
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@ -18,11 +28,15 @@ public class Lancer extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() {} public void execute() {
lancer.lancer(0.3);
}
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) {} public void end(boolean interrupted) {
lancer.lancer(0);
}
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override

12
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -9,14 +9,18 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
public class Accumulateur extends SubsystemBase { public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */ /** Creates a new Accumulateur. */
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2); final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc); final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
final DigitalInput limitacc = new DigitalInput(Constants.limitacc); final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
public void Deaccumuler(double vitesse){ public void Deaccumuler(double vitesse){
Moteuracc2.set(vitesse); Moteuracc2.set(vitesse);
} }
@ -27,7 +31,9 @@ public class Accumulateur extends SubsystemBase {
public boolean limitswitch(){ public boolean limitswitch(){
return limitacc.get(); return limitacc.get();
} }
public Accumulateur() {} public Accumulateur() {
dashboard.addBoolean("limitacc", this::limitswitch);
}
public void Accumuler(double vitesse){ public void Accumuler(double vitesse){
Moteuracc.set(vitesse); Moteuracc.set(vitesse);
Moteuracc2.set(vitesse); Moteuracc2.set(vitesse);

10
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -18,13 +18,13 @@ public class Lanceur extends SubsystemBase {
public Lanceur() {} public Lanceur() {}
final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless); final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless); final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
public void lancer(double vitesse){ public void lancer(double vitesse){
lancer.set(vitesse); lancer.set(vitesse);
} }
public void lanceur(){ public void lanceur(){
lancer2.follow(lancer); lancer2.follow(lancer);
lancer3.follow(lancer); lancer3.follow(lancer);
lancer4.follow(lancer); lancer4.follow(lancer);