From 87c3abcb65b42fd47c494fa0cc7e0cd19613ca65 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 24 Feb 2025 18:18:14 -0500
Subject: [PATCH] encodeurs

---
 src/main/java/frc/robot/subsystems/Elevateur.java | 5 +++++
 src/main/java/frc/robot/subsystems/Pince.java     | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 2efe36e..49928f3 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -4,7 +4,9 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
@@ -13,6 +15,9 @@ public class Elevateur extends SubsystemBase {
   public Elevateur() {}
   final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(1);
+  GenericEntry teb = Shuffleboard.getTab("teb")
+  .add("elevateur encodeur",position())
+  .getEntry();
   public double position(){
     return monte.getEncoder().getPosition();
   }
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 3e04f48..8cea49b 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -7,7 +7,9 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 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.wpilibj2.command.SubsystemBase;
 
 public class Pince extends SubsystemBase {
@@ -18,6 +20,9 @@ public class Pince extends SubsystemBase {
   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();
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }