PLS5618/robot-2024
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This commit is contained in:
samuel desharnais 2024-01-24 18:28:35 -05:00
parent ad1fd9d2d2
commit 5e44778df5
2 changed files with 22 additions and 2 deletions
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9
src/main/java/frc/robot/Constants.java
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@ -42,12 +42,17 @@ public class Constants {
public static int ArriereDroit = 6;
public static int ArriereGauche = 7;
// Limit switsh
// Limit switch
public static int guideurhaut = 23;
public static int guideurbas = 24;
public static int limitacc = 25;
public static int limitacc2 = 76;
public static int limithaut = 28;
public static int limitbas = 29;
//piston
public static int pistondroiteouvre= 30;
public static int pistondroiteferme= 31;
public static int pistondgaucheouvre= 32;
public static int pistondgauchferme= 32;
}

15
src/main/java/frc/robot/subsystem/Grimpeur.java
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@ -9,6 +9,10 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
@ -21,6 +25,8 @@ public class Grimpeur extends SubsystemBase {
// limit switch
final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre);
final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
//fonction
public void droit(double vitesse){
grimpeurd.set(vitesse);
@ -40,10 +46,19 @@ public void resetencodeurd(){
public void resetencodeurg(){
grimpeurg.getEncoder().setPosition(0);
}
public AHRS gyroscope = new AHRS();
public double getpitch(){
return gyroscope.getPitch();
}
public void pistonouvre(){
pistondroite.set(Value.kForward);
pistondgauche.set(Value.kForward);
}
public void pistonferme(){
pistondroite.set(Value.kReverse);
pistondgauche.set(Value.kReverse);
}
@Override
public void periodic() {
// This method will be called once per scheduler run