36 lines
1017 B
Java
36 lines
1017 B
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.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.wpilibj2.command.SubsystemBase;
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public class Grimpeur extends SubsystemBase {
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/** Creates a new Grimpeur. */
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public Grimpeur() {}
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final SparkMax grimpeur = new SparkMax(10,MotorType.kBrushless);
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final DigitalInput limit1 = new DigitalInput(3);
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public void grimpe(double vitesse){
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grimpeur.set(vitesse);
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}
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public boolean stop(){
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return limit1.get();
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}
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public double encodeur(){
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return grimpeur.getEncoder().getPosition();
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}
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public void reset(){
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grimpeur.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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