PLS5618/Reefscape-2025
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dashboard

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This commit is contained in:
Antoine PerreaultE
2025-02-22 15:21:04 -05:00
parent 0524ec6355
commit f9d09106a4
6 changed files with 21 additions and 41 deletions
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13
src/main/java/frc/robot/subsystems/Requin.java
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@@ -8,7 +8,11 @@ import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
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.ShuffleboardComponent;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Requin extends SubsystemBase {
@@ -17,7 +21,11 @@ public class Requin extends SubsystemBase {
final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
final DigitalInput limit3 = new DigitalInput(4);
final DigitalInput limit5 = new DigitalInput(5);
GenericEntry teb = Shuffleboard.getTab("teb")
.add("amp",encodeur())
.getEntry();
public void balaye(double vitesse){
balaye.set(vitesse);
}
@@ -27,9 +35,6 @@ public class Requin extends SubsystemBase {
public boolean enHaut(){
return limit3.get();
}
public boolean stop(){
return limit5.get();
}
public double encodeur(){
return rotatione.getEncoder().getPosition();
}