PLS5618/robot-2024
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revenu a la normal

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This commit is contained in:
samuel desharnais
2024-02-20 17:50:35 -05:00
parent 84f4f4ad46
commit b46109fe0b
2 changed files with 9 additions and 24 deletions
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8
src/main/java/frc/robot/subsystem/Lanceur.java
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@@ -69,7 +69,7 @@ public class Lanceur extends SubsystemBase {
new SysIdRoutine.Mechanism(
// Tell SysId how to plumb the driving voltage to the motor(s).
(Measure<Voltage> volts) -> {
lanceur1.setVoltage(volts.in(Volts));
lanceur4.setVoltage(volts.in(Volts));
},
// Tell SysId how to record a frame of data for each motor on the mechanism being
// characterized.
@@ -78,10 +78,10 @@ public class Lanceur extends SubsystemBase {
log.motor("shooter-wheel")
.voltage(
appliedVoltage.mut_replace(
lanceur1.get() * RobotController.getBatteryVoltage(), Volts))
.angularPosition(angle.mut_replace(lanceur1.getEncoder().getPosition(), Rotations))
lanceur4.get() * RobotController.getBatteryVoltage(), Volts))
.angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations))
.angularVelocity(
velocity.mut_replace(lanceur1.getEncoder().getVelocity(), RotationsPerSecond));
velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond));
},
// Tell SysId to make generated commands require this subsystem, suffix test state in
// WPILog with this subsystem's name ("shooter")