PLS5618/robot-2024
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Olivier Dubois
2024-02-19 19:22:13 -05:00
parent 05fc41d766 e0ee680ff7
commit 595065c250
36 changed files with 472 additions and 303 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
src/main/java/frc/robot/subsystem/Lanceur.java
View File

@ -32,8 +32,19 @@ 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();
public void pidspeaker(){
lanceur1.getPIDController().setP(0.5);
lanceur1.getPIDController().setI(0.5);
lanceur1.getPIDController().setD(0.5);
lanceur2.getPIDController().setP(0.5);
lanceur2.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 lancer(double vitesse){
lanceur1.set(-vitesse);