Merge branch 'main' of https://demerso.net/pls5618/2023/robot

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -4,11 +4,26 @@
 
 package frc.robot.subsystems.bras;
 
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
+  final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
+  public void AvanceRecule(double vitesse) {
+    Winch.set(vitesse);
+  }
+  public double distance() {
+    return(Winch.getEncoder().getPosition());
+  }
+  public void Reset() {
+    Winch.getEncoder().setPosition(0);
+  }
 
   @Override
   public void periodic() {

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -5,11 +5,25 @@
 package frc.robot.subsystems.bras;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
+import static frc.robot.Constants.*;
 
 public class Pivot extends SubsystemBase {
-  /** Creates a new Pivot. */
-  public Pivot() {}
+  // moteur
+  private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
 
+  // function
+  public void monteDescendre(double vitesse) {
+    pivot.set (vitesse);
+  } 
+  // encoder
+  public double distance(){
+    return (pivot.getEncoder().getPosition());
+  }
+  public void Reset(){
+    pivot.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run