baleeuse

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

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  public Requin() {}
+  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);
+  }
+  public boolean enHaut(){
+    return limit3.get();
+  }
+  public boolean enBas(){
+  return limit4.get();
+  }
+  public boolean stop(){
+  return  limit5.get();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}