Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

src/main/java/frc/robot/subsystem/Accumulateur.java

@@ -17,10 +17,8 @@ public class Accumulateur extends SubsystemBase {
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
   final DigitalInput limitacc = new DigitalInput(0);
-  
-  public void Deaccumuler(double vitesse){
-    Moteuracc2.set(vitesse);}
-  
+  public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
+  public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
 
   @Override
   public void periodic() {

src/main/java/frc/robot/subsystem/Grimpeur.java

@@ -18,11 +18,9 @@ public class Grimpeur extends SubsystemBase {
   public Grimpeur() {}
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
-
   // limit switch
   final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
   final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
-
   //fonction
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
@@ -42,14 +40,10 @@ public void resetencodeurd(){
 public void resetencodeurg(){
   grimpeurg.getEncoder().setPosition(0);
 }
-public void grimpeur(){
-  grimpeurg.follow(grimpeurd);
-}
 public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
-  
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

src/main/java/frc/robot/subsystem/Pixy.java

@@ -0,0 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystem;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Pixy extends SubsystemBase {
+  
+  /** Creates a new Pixy. */
+  public Pixy() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}