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// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import frc.robot.Constants;
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public class Gratte extends SubsystemBase {
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private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);
private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
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private DigitalInput limithd = new DigitalInput(Constants.limithd);
private DigitalInput limithg = new DigitalInput(Constants.limithg);
private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
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public boolean hautd(){
return limithd.get();
}
public boolean hautg(){
return limithg.get();
}
public boolean basd(){
return limitbd.get();
}
public boolean basg(){
return limitbg.get();
}
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/** Creates a new Gratte. */
public Gratte() {}
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public void Lever(double vitesse){
Gratted.set(vitesse);
Gratteg.set(vitesse);
}
public void baiser(double vitesse){
Gratted.set(-vitesse);
Gratteg.set(-vitesse);
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}
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@Override
public void periodic() {
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Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
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}
}