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piston

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This commit is contained in:
samuel desharnais
2024-02-08 17:52:41 -05:00
parent 3b44dbb6a6
commit 66ffe4fc91
1 changed files with 7 additions and 6 deletions
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13
src/main/java/frc/robot/subsystem/Grimpeur.java
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@@ -11,6 +11,7 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value; import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants; import frc.robot.Constants;
@@ -24,8 +25,8 @@ public class Grimpeur extends SubsystemBase {
// limit switch // limit switch
final DigitalInput limitdroite = new DigitalInput(Constants.limithaut); final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
final DigitalInput limitgauche = new DigitalInput(Constants.limitbas); final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre); final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre); final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
//fonction //fonction
public void droit(double vitesse){ public void droit(double vitesse){
grimpeurd.set(vitesse); grimpeurd.set(vitesse);
@@ -56,12 +57,12 @@ public AHRS gyroscope = new AHRS();
return gyroscope.getPitch(); return gyroscope.getPitch();
} }
public void pistonouvre(){ public void pistonouvre(){
pistondroite.set(Value.kForward); pistondroite.get();
pistondgauche.set(Value.kForward); pistondgauche.get();
} }
public void pistonferme(){ public void pistonferme(){
pistondroite.set(Value.kReverse); pistondroite.get();
pistondgauche.set(Value.kReverse); pistondgauche.get();
} }
@Override @Override
public void periodic() { public void periodic() {