sdesharnais/Rebuilt-2026
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debug de samedi

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samuel desharnais
2026-03-21 16:11:24 -04:00
parent e0c1e26933
commit a7fb3108ea
18 changed files with 178 additions and 150 deletions
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10
src/main/java/frc/robot/subsystems/Balayeuse.java
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@@ -22,11 +22,13 @@ public class Balayeuse extends SubsystemBase {
SparkMax Pivot = new SparkMax(8, MotorType.kBrushless);
DigitalInput limit = new DigitalInput(9);
private GenericEntry EncodeurBalayeuse =
teb.add("Position bas balayeuse", 10).getEntry();
teb.add("Position bas balayeuse", 1.8).getEntry();
private GenericEntry AmpBaleyeuse =
teb.add("Ampérage Baleyeuse", 40).getEntry();
public void Balayer(double vitesse){
public void BalayerEnbas(double vitesse){
Balaye1.set(vitesse);
}
public void BalayerPadle(double vitesse){
Balaye2.set(vitesse);
}
public void Pivoter(double vitesse){
@@ -36,7 +38,7 @@ public class Balayeuse extends SubsystemBase {
return Pivot.getEncoder().getPosition();
}
public void Reset(){
Pivot.getEncoder().setPosition(0);
Pivot.getEncoder().setPosition(0.6);
}
public boolean GetLimiSwtich(){
return !limit.get();
@@ -52,7 +54,7 @@ public class Balayeuse extends SubsystemBase {
timer.start();
}
public double EncodeurBalayeuse(){
return EncodeurBalayeuse.getDouble(10);
return EncodeurBalayeuse.getDouble(1.8);
}
/** Creates a new Balayeuse. */
public Balayeuse() {