PLS5618/robot-2023
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This commit is contained in:
samuel desharnais
2023-02-15 18:29:34 -05:00
parent 3b6e00bd4b
commit 52539e1f4f
5 changed files with 37 additions and 5 deletions
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6
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -8,6 +8,7 @@ package frc.robot.subsystems.bras;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
@ -15,6 +16,7 @@ public class BrasTelescopique extends SubsystemBase {
/** Creates a new BrasTelescopique. */
public BrasTelescopique() {}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
private DigitalInput photocell = new DigitalInput(Constants.photocell);
public void AvanceRecule(double vitesse) {
Winch.set(vitesse);
}
@ -24,7 +26,9 @@ public class BrasTelescopique extends SubsystemBase {
public void Reset() {
Winch.getEncoder().setPosition(0);
}
public boolean photocell(){
return photocell.get();
}
@Override
public void periodic() {
// This method will be called once per scheduler run