PLS5618/robot-2023
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

dgbxb v

Browse Source
This commit is contained in:
samuel desharnais
2023-02-22 18:29:18 -05:00
parent 6405e1b883
commit 2c79346ce9
8 changed files with 26 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
View File

@ -9,6 +9,9 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
@ -18,6 +21,7 @@ public class BrasTelescopique extends SubsystemBase {
public BrasTelescopique() {}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell);
private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
public void AvanceRecule(double vitesse) {
Winch.set(vitesse);
}
@ -28,8 +32,14 @@ public class BrasTelescopique extends SubsystemBase {
Winch.getEncoder().setPosition(0);
}
public boolean photocell(){
return photocell.get();
return photocell.get();
}
public void fermer() {
brakewinch.set(Value.kReverse);
}
public void ouvrir() {
brakewinch.set(Value.kForward);
}
@Override
public void periodic() {
Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);