From d9e5fbde750dfdce87d7dc79b1b90edff903608e Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Thu, 1 Feb 2024 18:09:36 -0500 Subject: [PATCH] lanceur --- src/main/java/frc/robot/RobotContainer.java | 1 - src/main/java/frc/robot/command/Lancer.java | 4 ++-- src/main/java/frc/robot/command/Lancerampli.java | 4 ++-- src/main/java/frc/robot/subsystem/Balayeuse.java | 2 +- src/main/java/frc/robot/subsystem/Lanceur.java | 4 +++- 5 files changed, 8 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a5c4bd9..1f1e0ef 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -7,7 +7,6 @@ package frc.robot; import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; // Manette diff --git a/src/main/java/frc/robot/command/Lancer.java b/src/main/java/frc/robot/command/Lancer.java index 804f019..0fdc5eb 100644 --- a/src/main/java/frc/robot/command/Lancer.java +++ b/src/main/java/frc/robot/command/Lancer.java @@ -4,10 +4,10 @@ package frc.robot.command; -import com.revrobotics.CANSparkMax; + import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystem.Accumulateur; + import frc.robot.subsystem.Lanceur; public class Lancer extends Command { diff --git a/src/main/java/frc/robot/command/Lancerampli.java b/src/main/java/frc/robot/command/Lancerampli.java index 4e7aafb..f3588b9 100644 --- a/src/main/java/frc/robot/command/Lancerampli.java +++ b/src/main/java/frc/robot/command/Lancerampli.java @@ -4,10 +4,10 @@ package frc.robot.command; -import com.revrobotics.CANSparkMax; + import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystem.Accumulateur; + import frc.robot.subsystem.Lanceur; public class Lancerampli extends Command { diff --git a/src/main/java/frc/robot/subsystem/Balayeuse.java b/src/main/java/frc/robot/subsystem/Balayeuse.java index 8fc5987..79ed37f 100644 --- a/src/main/java/frc/robot/subsystem/Balayeuse.java +++ b/src/main/java/frc/robot/subsystem/Balayeuse.java @@ -4,7 +4,7 @@ package frc.robot.subsystem; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; + import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index 7ae2c2c..9edc79b 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -20,7 +20,9 @@ public class Lanceur extends SubsystemBase { final CANSparkMax lancer2 = 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 pid(){ + lancer.getPIDController(); + } public void lancer(double vitesse){ lancer.set(vitesse); }