Reefscape-2025/src/main/java/frc/robot/subsystems/Grimpeur.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.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class Grimpeur extends SubsystemBase {
  /** Creates a new Grimpeur. */
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
  public Grimpeur() {
    teb.addBoolean("limit grimpeur", this::stop);
    teb.addDouble("encodeur grimpeur", this::encodeur);
  }
  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
  final DigitalInput limit1 = new DigitalInput(2);
  public void grimpe(double vitesse){
    grimpeur.set(vitesse);
  }
  public boolean stop(){
   return limit1.get();
  }
  public double encodeur(){
  return grimpeur.getEncoder().getPosition();
  }
  public void reset(){
     grimpeur.getEncoder().setPosition(135.11);
    }
  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }
}