betabot-2024/src/main/java/frc/robot/subsystems/Accumulateur.java

// 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.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

public class Accumulateur extends SubsystemBase {
  private CANSparkMax moteuracc = new CANSparkMax(Constants.accumulateur, MotorType.kBrushless);
  /** Creates a new Accumulateur. */
  public Accumulateur() {
    
  }
  public void Deaccumuler(double vitesse){
    moteuracc.set(vitesse);
  }
  public double distance() {
      return(moteuracc.getEncoder().getPosition());
    }
  public void Reset() {
      moteuracc.getEncoder().setPosition(0);
    }
  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }
}