66 lines
1.9 KiB
Java
66 lines
1.9 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.SparkLowLevel.MotorType;
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import com.revrobotics.spark.SparkMax;
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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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public class Pince extends SubsystemBase {
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/** Creates a new Pince. */
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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public Pince() {
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teb.addBoolean("limit pince",this::position);
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teb.addDouble("encodeur pince", this::encodeurpivot);
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}
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final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
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final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
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final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
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final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
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final DigitalInput limit6 = new DigitalInput(9);
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public void aspirecoral(double vitesse){
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coral.set(vitesse);
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}
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public void pivote(double vitesse){
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pivoti.set(vitesse);
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}
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public void aspirealgue(double vitesse){
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algue2.set(-vitesse);
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algue1.set(-vitesse);
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}
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public double encodeurpivot(){
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return pivoti.getEncoder().getPosition();
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}
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public boolean position(){
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return limit6.get();
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}
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public void reset(){
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pivoti.getEncoder().setPosition(0);
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}
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public double emperagecoral(){
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return coral.getOutputCurrent();
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}
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public double emperagealgue(){
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return algue1.getOutputCurrent();
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}
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public void algue1Test(double vitesse){
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algue1.set(vitesse);
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}
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public void algue2Test(double vitesse){
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algue2.set(vitesse);
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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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