PLS5618/Reefscape-2025
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pince + main

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This commit is contained in:
Antoine PerreaultE
2025-02-25 16:38:35 -05:00
parent a11f31a2a8
commit f60f129410
3 changed files with 47 additions and 24 deletions
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10
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -7,17 +7,19 @@ 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;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
public class Elevateur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
/** Creates a new Elevateur. */
public Elevateur() {}
public Elevateur() {
teb.addDouble("encodeur elevateur",this::position);
}
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();
}