aspire

src/main/java/frc/robot/subsystems/Pince.java

@@ -0,0 +1,44 @@
+// 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.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Pince extends SubsystemBase {
+  /** Creates a new Pince. */
+  public Pince() {}
+  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
+  final DigitalInput limit6 = new DigitalInput(0);
+  public void aspirecoral(double vitesse){
+    coral.set(vitesse);
+  }
+public void pivote(double vitesse){
+  pivoti.set(vitesse);
+}
+public void aspirealgue(double vitesse){
+  algue2.set(vitesse);
+  algue1.set(-vitesse);
+}
+public double encodeurpivot(){
+  return pivoti.getEncoder().getPosition();
+}
+public void pisotion(){
+  limit6.get();
+}
+public void reset(){
+  pivoti.getEncoder().setPosition(0);
+}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}