PLS5618/Reefscape-2025
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dashboard + limit id

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This commit is contained in:
Antoine PerreaultE
2025-02-25 17:56:24 -05:00
parent f60f129410
commit 3660bb9c4a
4 changed files with 25 additions and 15 deletions
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3
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -16,9 +16,10 @@ public class Elevateur extends SubsystemBase {
/** Creates a new Elevateur. */
public Elevateur() {
teb.addDouble("encodeur elevateur",this::position);
teb.addBoolean("limit elevateur", this::limit2);
}
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
final DigitalInput limit2 = new DigitalInput(1);
final DigitalInput limit2 = new DigitalInput(0);
public double position(){
return monte.getEncoder().getPosition();

14
src/main/java/frc/robot/subsystems/Pince.java
View File

@@ -10,19 +10,23 @@ import com.revrobotics.spark.SparkMax;
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.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Pince extends SubsystemBase {
/** Creates a new Pince. */
public Pince() {}
ShuffleboardTab teb = Shuffleboard.getTab("teb");
public Pince() {
teb.addBoolean("limit pince",this::position);
teb.addDouble("encodeur pince", this::encodeurpivot);
}
final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
final DigitalInput limit6 = new DigitalInput(0);
GenericEntry teb = Shuffleboard.getTab("teb")
.add("pince encodeur",encodeurpivot())
.getEntry();
final DigitalInput limit6 = new DigitalInput(9);
public void aspirecoral(double vitesse){
coral.set(vitesse);
}