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dashboard bien

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This commit is contained in:
samuel desharnais
2025-03-01 09:17:17 -05:00
parent 7e142a9425
commit 8f9519e5bb
5 changed files with 53 additions and 68 deletions
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46
src/main/java/frc/robot/subsystems/Elevateur.java
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@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
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.wpilibj.shuffleboard.ShuffleboardTab;
@ -12,8 +13,25 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
public class Elevateur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
/** Creates a new Elevateur. */
private GenericEntry encodeurelevateurL2bas =
teb.add("encodeurelevateurL2bas", -1).getEntry();
private GenericEntry encodeurelevateurL2haut =
teb.add("encodeurelevateurL2haut", -0.9).getEntry();
private GenericEntry encodeurelevateurL3bas =
teb.add("ncodeurelevateurL3bas", -2.9).getEntry();
private GenericEntry encodeurelevateurL3haut =
teb.add("encodeurelevateurL3haut", -0.9).getEntry();
private GenericEntry encodeurelevateurL4bas =
teb.add("encodeurelevateurL4bas", -0.9).getEntry();
private GenericEntry encodeurelevateurL4haut =
teb.add("encodeurelevateurL4haut", -0.9).getEntry();
private GenericEntry encodeurelevateurstationbas =
teb.add("encodeurelevateursationbas", -0.9).getEntry();
private GenericEntry encodeurelevateurstationhaut =
teb.add("encodeurelevateursationhaut", -0.9).getEntry();
public Elevateur() {
teb.addDouble("encodeur elevateur",this::position);
teb.addDouble("encodeur elevateur L2 haut",this::position);
teb.addBoolean("limit elevateur", this::limit2);
}
final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
@ -22,6 +40,7 @@ public class Elevateur extends SubsystemBase {
public double position(){
return monte.getEncoder().getPosition();
}
public void vitesse(double vitesse){
if (limit2()) {
if (vitesse > 0) {
@ -41,6 +60,31 @@ public class Elevateur extends SubsystemBase {
public void reset(){
monte.getEncoder().setPosition(0);
}
public double encodeurelevateurL2bas(){
return encodeurelevateurL2bas.getDouble(-1);
}
public double encodeurelevateurL2haut(){
return encodeurelevateurL2haut.getDouble(-0.9);
}
public double encodeurelevateurL3bas(){
return encodeurelevateurL3bas.getDouble(-2.9);
}
public double encodeurelevateurL3haut(){
return encodeurelevateurL3haut.getDouble(-3);
}
public double encodeurelevateurL4bas(){
return encodeurelevateurL4bas.getDouble(-6.4);
}
public double encodeurelevateurL4haut(){
return encodeurelevateurL4haut.getDouble(-6.5);
}
public double encodeurelevateurstationbas(){
return encodeurelevateurstationbas.getDouble(-0.5);
}
public double encodeurelevateurstationhaut(){
return encodeurelevateurstationhaut.getDouble(-0.4);
}
@Override
public void periodic() {
// This method will be called once per scheduler run