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Balayer et debalayer + menage

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This commit is contained in:
Olivier Dubois
2024-01-24 19:34:02 -05:00
parent ad1fd9d2d2
commit 82caa36322
4 changed files with 84 additions and 18 deletions
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23
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -16,15 +16,22 @@ public class Accumulateur extends SubsystemBase {
final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
final DigitalInput limitacc2 = new DigitalInput(Constants.limitacc2);
public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
public boolean limitswitch1(){return limitacc.get();}
public boolean limitswitch2(){return limitacc2.get();}
final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
public void Deaccumuler(double vitesse){
Moteuracc2.set(vitesse);
}
public void moteuraccfollow(){
Moteuracc.follow(Moteuracc2);
Moteuracc.setInverted(true);
}
public boolean limitswitch(){
return limitacc.get();
}
public Accumulateur() {}
public void Accumuler(double vitesse){Moteuracc.set(vitesse);}
public void Accumuler2(double vitesse){Moteuracc2.set(vitesse);}
public void Accumuler(double vitesse){
Moteuracc.set(vitesse);
Moteuracc2.set(vitesse);
}
@Override
public void periodic() {

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

@ -15,10 +15,19 @@ public class Balayeuse extends SubsystemBase {
public Balayeuse() {}
final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
final TalonSRX etoile = new TalonSRX(Constants.etoile);
final WPI_TalonSRX etoile = new WPI_TalonSRX(Constants.etoile);
public void Accumulation(double vitesse){roue.set(vitesse);}
public void balayeuse(){etoile.follow(roue); etoile.setInverted(true);}
public void Accumulation(double vitesse){
roue.set(vitesse);
}
public void balayeuse(){
etoile.follow(roue);
etoile.setInverted(true);
}
public void balaye(double vitesse){
roue.set(vitesse);
etoile.set(vitesse);
}
@Override
public void periodic() {
// This method will be called once per scheduler run