From 17e8d85f7ee9bd5a766f8bca761ef9f6e5d40ba1 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Sat, 17 Feb 2024 13:56:50 -0500 Subject: [PATCH] j --- src/main/java/frc/robot/RobotContainer.java | 2 ++ src/main/java/frc/robot/subsystem/Accumulateur.java | 8 +------- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 22d113d..5765337 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,6 +27,7 @@ import frc.robot.command.GrimpeurGauche; import frc.robot.command.GuiderBas; import frc.robot.command.GuiderHaut; import frc.robot.command.Lancer; +import frc.robot.command.LancerAmp; import frc.robot.command.LancerNote; import frc.robot.command.Lancerampli; import frc.robot.command.Limelight_tracker; @@ -82,6 +83,7 @@ public class RobotContainer { manette.x().whileTrue(new PistonFerme(grimpeur)); joystick.button(3).whileTrue(balayer); joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur)); + joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur)); joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive))); joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur))); diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index cf52f21..00d56b7 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -26,13 +26,7 @@ public class Accumulateur extends SubsystemBase { final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc); final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc); - public void Deaccumuler(double vitesse){ - Moteuracc2.set(-vitesse); - Moteuracc.set(-vitesse); - } - public void moteuraccfollow(){ - - } + public boolean limitswitch(){ return photocellacc.get(); }