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:
Antoine PerreaultE
2024-01-30 18:16:05 -05:00
parent 3c25b4b39b 074e91a4dc
commit 83069a3fda
7 changed files with 164 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/main/java/frc/robot/subsystem/Accumulateur.java
View File

@ -9,14 +9,18 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
public class Accumulateur extends SubsystemBase {
/** Creates a new Accumulateur. */
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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 limitacc = new DigitalInput(Constants.limitacc);
public void Deaccumuler(double vitesse){
Moteuracc2.set(vitesse);
}
@ -27,7 +31,9 @@ public class Accumulateur extends SubsystemBase {
public boolean limitswitch(){
return limitacc.get();
}
public Accumulateur() {}
public Accumulateur() {
dashboard.addBoolean("limitacc", this::limitswitch);
}
public void Accumuler(double vitesse){
Moteuracc.set(vitesse);
Moteuracc2.set(vitesse);

7
src/main/java/frc/robot/subsystem/Grimpeur.java
View File

@ -45,7 +45,12 @@ public void resetencodeurd(){
public void resetencodeurg(){
grimpeurg.getEncoder().setPosition(0);
}
public double encoderd(){
return grimpeurd.getEncoder().getPosition();
}
public double encoderg(){
return grimpeurg.getEncoder().getPosition();
}
public AHRS gyroscope = new AHRS();
public double getpitch(){
return gyroscope.getPitch();

10
src/main/java/frc/robot/subsystem/Lanceur.java
View File

@ -18,13 +18,13 @@ public class Lanceur extends SubsystemBase {
public Lanceur() {}
final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
public void lancer(double vitesse){
lancer.set(vitesse);
public void lancer(double vitesse){
lancer.set(vitesse);
}
public void lanceur(){
public void lanceur(){
lancer2.follow(lancer);
lancer3.follow(lancer);
lancer4.follow(lancer);