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dashboard acc

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This commit is contained in:
Olivier Dubois 2024-02-05 18:08:26 -05:00
parent f66135a8c3
commit 4330ab07f4
2 changed files with 10 additions and 2 deletions
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2
src/main/java/frc/robot/command/Balayer.java
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@ -30,7 +30,7 @@ public class Balayer extends Command {
} }
else{ else{
balayeuse.balaye(0.6); balayeuse.balaye(0.6);
accumulateur.Accumuler(0.6); accumulateur.Accumuler();
} }
} }

8
src/main/java/frc/robot/subsystem/Accumulateur.java
View File

@ -6,6 +6,7 @@ package frc.robot.subsystem;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.networktables.GenericEntry;
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;
@ -18,6 +19,9 @@ public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */ /** 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 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);
@ -33,12 +37,16 @@ public class Accumulateur extends SubsystemBase {
return limitacc.get(); return limitacc.get();
} }
public Accumulateur() { public Accumulateur() {
dashboard.addBoolean("limitacc", this::limitswitch); 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);
} }
public void Accumuler(){
Accumuler(vitesse.getDouble(0.1));
}
@Override @Override
public void periodic() { public void periodic() {