PLS5618/robot-2024
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acc et baleeu

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This commit is contained in:
Olivier Dubois 2024-01-18 20:02:00 -05:00
parent 3308e078d1
commit 4d2dc50b03
3 changed files with 10 additions and 5 deletions
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5
src/main/java/frc/robot/Constants.java
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@ -11,6 +11,7 @@ public class Constants {
public static int lancer2 = 2;
public static int roue = 3;
public static int etoile = 4;
public static int Deaccumulationneur1 = 5;
public static int Deaccumulationneur2 = 6;
public static int Moteuracc2 = 5;
public static int Moteuracc = 6;
}

8
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -6,14 +6,18 @@ package frc.robot.subsystem;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */
public Accumulateur() {}
final WPI_TalonSRX Deaccumulationneur1 = new WPI_TalonSRX(Constants.Deaccumulationneur1);
final WPI_TalonSRX Deaccumulationneur2 = new WPI_TalonSRX(Constants.Deaccumulationneur2);
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);}
@Override
public void periodic() {

2
src/main/java/frc/robot/subsystem/Balayeuse.java
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@ -15,7 +15,7 @@ public class Balayeuse extends SubsystemBase {
/** Creates a new Balayeuse. */
public Balayeuse() {}
final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
final TalonSRX etoile = new TalonSRX(Constants.etoile);
public void Accumulation(double vitesse){