robot-2023/src/main/java/frc/robot/subsystems/Gratte.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 edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import frc.robot.Constants;

public class Gratte extends SubsystemBase {
  private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
  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);
  
  public boolean hautd(){
    return limithd.get();
  }
  
  public boolean hautg(){
    return limithg.get();
  }

  public boolean basd(){
    return limitbd.get();
  }
  public boolean basg(){
    return limitbg.get();
  }
  /** Creates a new Gratte. */
  public Gratte() {}
  public void Lever(double vitesse){
    Gratted.set(vitesse);
    Gratteg.set(vitesse);
  }
  public void baiser(double vitesse){
    Gratted.set(-vitesse);
    Gratteg.set(-vitesse);
  }
  @Override
  public void periodic() {
    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);
  }
}