From 6d7ee56942736f1410c90b58a0184b0634656738 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 8 Feb 2023 18:53:26 -0500
Subject: [PATCH] zdxfgvcbnm,

---
 .../java/frc/robot/subsystems/bras/Pivot.java  | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index 2742df8..ec2f376 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/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 monteDescendredroit(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