PLS5618/robot-2024
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Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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samuel desharnais
2024-02-01 20:01:32 -05:00
parent 20fbdd124c f66135a8c3
commit 353ea19d71
2 changed files with 22 additions and 22 deletions
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20
src/main/java/frc/robot/Constants.java
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@@ -43,16 +43,16 @@ public class Constants {
public static int ArriereGauche = 7;
// Limit switch
public static int guideurhaut = 23;
public static int guideurbas = 24;
public static int limitacc = 25;
public static int limitacc2 = 76;
public static int limithaut = 28;
public static int limitbas = 29;
public static int guideurhaut = 0;
public static int guideurbas = 1;
public static int limitacc = 2;
public static int limitacc2 = 3;
public static int limithaut = 4;
public static int limitbas = 5;
//piston
public static int pistondroiteouvre= 30;
public static int pistondroiteferme= 31;
public static int pistondgaucheouvre= 32;
public static int pistondgauchferme= 32;
public static int pistondroiteouvre= 0;
public static int pistondroiteferme= 1;
public static int pistondgaucheouvre= 2;
public static int pistondgauchferme= 3;
}

24
src/main/java/frc/robot/subsystem/Lanceur.java
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@@ -16,25 +16,25 @@ public class Lanceur extends SubsystemBase {
public Lanceur() {}
final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
final CANSparkMax lanceur1 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
public void pid(){
lancer.getPIDController();
lanceur1.getPIDController();
}
public void lancer(double vitesse){
lancer.set(vitesse);
lanceur1.set(vitesse);
}
public double vitesse(double vitesse){
return lancer.getEncoder().getVelocity();
return lanceur1.getEncoder().getVelocity();
}
public void lanceur(){
lancer2.follow(lancer);
lancer3.follow(lancer);
lancer4.follow(lancer);
lancer3.setInverted(true);
lancer4.setInverted(true);
lanceur2.follow(lanceur1);
lanceur3.follow(lanceur1);
lanceur4.follow(lanceur1);
lanceur3.setInverted(true);
lanceur4.setInverted(true);
}
@Override