Reefscape-2025/src/main/java/frc/robot/subsystems/Requin.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;

import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class Requin extends SubsystemBase {
  /** Creates a new Requin. */
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
  public Requin() {
    teb.addBoolean("limit requin", this::enHaut);
  }
  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
  final DigitalInput limit3 = new DigitalInput(1);


    
  public void balaye(double vitesse){
    balaye.set(vitesse);
  }
  public void rotationer(double vitesse){
  rotatione.set(vitesse);
  }
  public boolean enHaut(){
  return limit3.get();
  } 
  public double encodeur(){
  return rotatione.getEncoder().getPosition();
  }
  public void reset(){
    rotatione.getEncoder().setPosition(0);
  }
  public double amp(){
    return balaye.getOutputCurrent();
  }
  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }
}