From ae540ccae18ca5175a301c5bc453372a18c40d15 Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 22 Jan 2024 19:39:19 -0500 Subject: [PATCH] s --- src/main/java/frc/robot/subsystem/Accumulateur.java | 1 + src/main/java/frc/robot/subsystem/Drive.java | 4 +++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java index 71e9274..dd5faa2 100644 --- a/src/main/java/frc/robot/subsystem/Accumulateur.java +++ b/src/main/java/frc/robot/subsystem/Accumulateur.java @@ -16,6 +16,7 @@ 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); + public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);} diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java index fa7ba39..23afb99 100644 --- a/src/main/java/frc/robot/subsystem/Drive.java +++ b/src/main/java/frc/robot/subsystem/Drive.java @@ -16,9 +16,11 @@ import swervelib.parser.SwerveParser; public class Drive extends SubsystemBase { /** Creates a new Drive. */ - + SwerveDrive swerveDrive; + File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve"); + public void drive(double x, double y, double zRotation){ swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false); }