pratique-2025/src/main/java/frc/robot/Subsystems/Lanceur.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.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;



import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class Lanceur extends SubsystemBase {
  /** Creates a new Lanceur. */
  public Lanceur() {}
  
  final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
  final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
  final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
  public void encodeur(double distance){
    lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
    lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
    lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
    lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
  }
  public void lance(double vitesse){
    lanceur1.set(vitesse);
    lanceur2.set(-vitesse);
  }
  public void tourelRotation(double vitesse){
    tourel.set(vitesse);
  }
  public void setPID(double p, double i, int d) {
  }
  @Override
  public void periodic() {
    // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run
  }
}