52 lines
1.6 KiB
Java
52 lines
1.6 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import com.revrobotics.spark.SparkFlex;
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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class Requin extends SubsystemBase {
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/** Creates a new Requin. */
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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public Requin() {
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teb.addBoolean("limit requin", this::enHaut);
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teb.addDouble("amparge requin", this::amp);
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teb.addDouble("encodeur requin", this::encodeur);
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}
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final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
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final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
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final DigitalInput limit3 = new DigitalInput(1);
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public void balaye(double vitesse){
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balaye.set(vitesse);
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}
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public void rotationer(double vitesse){
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rotatione.set(vitesse);
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}
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public boolean enHaut(){
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return limit3.get();
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}
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public double encodeur(){
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return rotatione.getEncoder().getPosition();
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}
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public void reset(){
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rotatione.getEncoder().setPosition(0);
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}
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public double amp(){
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return balaye.getOutputCurrent();
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}
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public boolean xRequin = false;
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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