41 lines
1.3 KiB
Java
41 lines
1.3 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 edu.wpi.first.networktables.GenericEntry;
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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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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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public class Elevateur extends SubsystemBase {
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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/** Creates a new Elevateur. */
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public Elevateur() {
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teb.addDouble("encodeur elevateur",this::position);
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teb.addBoolean("limit elevateur", this::limit2);
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}
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final SparkMax monte = new SparkMax(22, MotorType.kBrushless);
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final DigitalInput limit2 = new DigitalInput(0);
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public double position(){
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return monte.getEncoder().getPosition();
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}
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public void vitesse(double vitesse){
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monte.set(vitesse);
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}
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public boolean limit2(){
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return limit2.get();
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}
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public void reset(){
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monte.getEncoder().setPosition(0);
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}
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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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