PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE 2024-01-22 19:39:19 -05:00
parent 6190079c9e
commit ae540ccae1
2 changed files with 4 additions and 1 deletions
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1
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -16,6 +16,7 @@ public class Accumulateur extends SubsystemBase {
final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2); final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc); final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
final DigitalInput limitacc = new DigitalInput(0); final DigitalInput limitacc = new DigitalInput(0);
public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);} public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}

4
src/main/java/frc/robot/subsystem/Drive.java
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@ -16,9 +16,11 @@ import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase { public class Drive extends SubsystemBase {
/** Creates a new Drive. */ /** Creates a new Drive. */
SwerveDrive swerveDrive; SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve"); File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
public void drive(double x, double y, double zRotation){ public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false); swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);
} }