PLS5618/Reefscape-2025
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dashboard

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samuel desharnais
2025-02-27 18:06:28 -05:00
parent 30cc85d34e
commit 7c101a6eed
1 changed files with 5 additions and 2 deletions
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7
src/main/java/frc/robot/commands/L4.java
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@@ -5,6 +5,7 @@
package frc.robot.commands;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.DoubleTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
@@ -16,9 +17,10 @@ import frc.robot.subsystems.Pince;
public class L4 extends Command {
private Elevateur elevateur;
private Pince pince;
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTableInstance networktable = NetworkTableInstance.getDefault();
NetworkTable tabelevateur = networktable.getTable("tabelevateur");
private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurbasL4").subscribe(-6.4);
private DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
@@ -26,6 +28,7 @@ NetworkTableInstance networktable = NetworkTableInstance.getDefault();
public L4(Elevateur elevateur,Pince pince) {
this.elevateur = elevateur;
this.pince = pince;
encodeur1topic.setPersistent(true);
addRequirements(elevateur,pince);
// Use addRequirements() here to declare subsystem dependencies.
}