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Grimpeur, Fonctionne

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This commit is contained in:
Antoine PerreaultE
2025-02-26 19:09:33 -05:00
parent 9b86a0b975
commit 63e476c64e
4 changed files with 64 additions and 14 deletions
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11
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -8,14 +8,19 @@ 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. */
public 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(3);
final DigitalInput limit1 = new DigitalInput(2);
public void grimpe(double vitesse){
grimpeur.set(vitesse);
}