PLS5618/robot-2023
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samuel desharnais
2023-02-13 18:40:40 -05:00
parent 0c37463a91
commit 4ca8f681f6
3 changed files with 85 additions and 5 deletions
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14
src/main/java/frc/robot/subsystems/Gratte.java
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@@ -12,8 +12,8 @@ import frc.robot.Constants;
public class Gratte extends SubsystemBase {
private WPI_TalonSRX baisserGratte = new WPI_TalonSRX(Constants.leverGratte);
private WPI_TalonSRX leverGratte = new WPI_TalonSRX(Constants.baisserGratte);
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);
@@ -34,9 +34,13 @@ public class Gratte extends SubsystemBase {
}
/** Creates a new Gratte. */
public Gratte() {}
public void BaisserLever(double vitesse){
baisserGratte.set(vitesse);
leverGratte.set(vitesse);
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() {