PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE
2024-02-15 20:24:56 -05:00
parent 11d35c9357
commit 2e7767175f
4 changed files with 5 additions and 14 deletions
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6
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -29,7 +29,6 @@ public class Grimpeur extends SubsystemBase {
final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless);
// limit switch
final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
//fonction
public Grimpeur() {
pistonouvre();
@ -61,15 +60,10 @@ public AHRS gyroscope = new AHRS();
}
public void pistonferme(){
pistondroite.set(true);
pistondgauche.set(true);
}
public void pistonouvre(){
pistondgauche.set(false);
pistondroite.set(false);
}
public boolean piston(){
return pistondgauche.get();
}
@Override
public void periodic() {