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limitswitchsacc

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This commit is contained in:
Olivier Dubois 2024-01-23 18:50:07 -05:00
parent 0429fd456c
commit ac05fe4d50
2 changed files with 5 additions and 2 deletions
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1
src/main/java/frc/robot/Constants.java
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@ -46,6 +46,7 @@ public class Constants {
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;

6
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -16,10 +16,12 @@ 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(0);
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();}
@Override
public void periodic() {
// This method will be called once per scheduler run