// 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.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

public class Lanceur extends SubsystemBase {
  ShuffleboardTab dash2 = Shuffleboard.getTab("Dashboard2.0");
  
  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
  //ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
  //.getLayout("Pid", BuiltInLayouts.kList)
  //.withSize(3, 7);
  public Lanceur(){
    dash2.add("test", 1); 
    dashboard.add("p", 1);
    dashboard.add("i", 2);
    dashboard.add("d", 3);
  }
  final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); 

  public void lancer(double vitesse){
    lanceur.set(vitesse);
  }
    public double vitesse(){
      return(lanceur.getEncoder().getVelocity());
    }

   // encodeur
  public double distance() {
    return(lanceur.getEncoder().getPosition());
  }
    public void Reset() {
      lanceur.getEncoder().setPosition(0);
    }

    public void stop() {
    }

  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }

  public void setPID(double p, double i, int d) {
  }
}