PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-02-20 20:10:58 -05:00
parent dc36eea320
commit 29227dd2f6
5 changed files with 84 additions and 34 deletions
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5
src/main/java/frc/robot/subsystems/Requin.java
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@ -15,7 +15,7 @@ public class Requin extends SubsystemBase {
/** Creates a new Requin. */
public Requin() {}
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(4);
final DigitalInput limit5 = new DigitalInput(5);
public void balaye(double vitesse){
@ -36,6 +36,9 @@ public class Requin extends SubsystemBase {
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