PLS5618/robot-2024
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samuel desharnais
2024-02-19 19:01:52 -05:00
parent 1476b1eae3
commit 55ad4f60ce
34 changed files with 188 additions and 93 deletions
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40
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -32,19 +32,33 @@ public class Lanceur extends SubsystemBase {
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(){
lanceur1.getPIDController().setP(0.2);
lanceur1.getPIDController().setI(0.2);
lanceur1.getPIDController().setD(0.2);
lanceur2.getPIDController().setP(0.2);
lanceur1.getPIDController().setI(0.2);
lanceur2.getPIDController().setD(0.2);
lanceur3.getPIDController().setP(0.2);
lanceur3.getPIDController().setI(0.2);
lanceur3.getPIDController().setD(0.2);
lanceur4.getPIDController().setP(0.2);
lanceur4.getPIDController().setI(0.2);
lanceur4.getPIDController().setD(0.2);
public void pidspeaker(){
lanceur1.getPIDController().setP(0.5);
lanceur1.getPIDController().setI(0.5);
lanceur1.getPIDController().setD(0.5);
lanceur2.getPIDController().setP(0.5);
lanceur1.getPIDController().setI(0.5);
lanceur2.getPIDController().setD(0.5);
lanceur3.getPIDController().setP(0.5);
lanceur3.getPIDController().setI(0.5);
lanceur3.getPIDController().setD(0.5);
lanceur4.getPIDController().setP(0.5);
lanceur4.getPIDController().setI(0.5);
lanceur4.getPIDController().setD(0.5);
}
public void pidampli(){
lanceur1.getPIDController().setP(0.1);
lanceur1.getPIDController().setI(0.1);
lanceur1.getPIDController().setD(0.1);
lanceur2.getPIDController().setP(0.1);
lanceur1.getPIDController().setI(0.1);
lanceur2.getPIDController().setD(0.1);
lanceur3.getPIDController().setP(0.1);
lanceur3.getPIDController().setI(0.1);
lanceur3.getPIDController().setD(0.1);
lanceur4.getPIDController().setP(0.1);
lanceur4.getPIDController().setI(0.1);
lanceur4.getPIDController().setD(0.1);
}
public void lancer(double vitesse){
lanceur1.set(-vitesse);