PLS5618/Reefscape-2025
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simulation

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This commit is contained in:
Antoine PerreaultE
2025-02-03 17:49:34 -05:00
parent 06abfa4dbb
commit 210d219793
4 changed files with 97 additions and 5 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@@ -31,7 +31,7 @@ import frc.robot.subsystems.Pince;
public class RobotContainer {
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
private final SendableChooser<Command> autoChooser;
Pince pince = new Pince();
Elevateur elevateur = new Elevateur();

4
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -11,8 +11,8 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
public class Elevateur extends SubsystemBase {
/** Creates a new Elevateur. */
public Elevateur() {}
final SparkMax monte = new SparkMax(0, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(0);
final SparkMax monte = new SparkMax(3, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(1);
public double position(){
return monte.getEncoder().getPosition();
}

4
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase {
/** Creates a new Grimpeur. */
public Grimpeur() {}
final Spark grimpeur = new Spark(0);
final DigitalInput limit1 = new DigitalInput(0);
final Spark grimpeur = new Spark(2);
final DigitalInput limit1 = new DigitalInput(3);
public void grimpe(double vitesse){
grimpeur.set(vitesse);
}