baleeuse

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

@@ -17,23 +17,25 @@ public class Requin extends SubsystemBase {
   final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(0);
-  final DigitalInput limit4 = new DigitalInput(0);
   final DigitalInput limit5 = new DigitalInput(0);
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }
   public void rotationer(double vitesse){
-    rotatione.set(vitesse);
+  rotatione.set(vitesse);
   }
   public boolean enHaut(){
-    return limit3.get();
-  }
-  public boolean enBas(){
-  return limit4.get();
+  return limit3.get();
   }
   public boolean stop(){
   return  limit5.get();
   }
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run