From 4330ab07f46b20777baa64778ea4900df1eb0805 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 5 Feb 2024 18:08:26 -0500
Subject: [PATCH] dashboard acc

---
 src/main/java/frc/robot/command/Balayer.java        |  2 +-
 src/main/java/frc/robot/subsystem/Accumulateur.java | 10 +++++++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index 31b57f1..61a1dc7 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -30,7 +30,7 @@ public class Balayer extends Command {
   }
   else{
     balayeuse.balaye(0.6);
-    accumulateur.Accumuler(0.6);
+    accumulateur.Accumuler();
   }
 }
 
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index fb3b646..82ade1e 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -6,6 +6,7 @@ package frc.robot.subsystem;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -17,7 +18,10 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
  
-  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); 
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+   private GenericEntry vitesse =
+      dashboard.add("vitesseacc", 1)
+         .getEntry(); 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
   final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
@@ -33,12 +37,16 @@ public class Accumulateur extends SubsystemBase {
     return limitacc.get();
   }
   public Accumulateur() {
+    
     dashboard.addBoolean("limitacc", this::limitswitch);
   }
   public void Accumuler(double vitesse){
     Moteuracc.set(vitesse);
     Moteuracc2.set(vitesse);
   }
+  public void Accumuler(){
+    Accumuler(vitesse.getDouble(0.1));
+  }
 
   @Override
   public void periodic() {