PLS5618/robot-2023
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This commit is contained in:
Olivier Dubois
2023-02-27 19:43:14 -05:00
parent d4a47ec157
commit 7dad4be45c
5 changed files with 30 additions and 10 deletions
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10
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -8,11 +8,19 @@ package frc.robot.subsystems.bras;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class BrasTelescopique extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout("yeet", BuiltInLayouts.kList)
.withSize(2, 2);
/** Creates a new BrasTelescopique. */
public BrasTelescopique() {}
final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@ -28,6 +36,6 @@ public class BrasTelescopique extends SubsystemBase {
@Override
public void periodic() {
Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
yeet.add ("encodeur",0.1);
}
}

6
src/main/java/frc/robot/subsystems/bras/Pivot.java
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@ -5,12 +5,14 @@
package frc.robot.subsystems.bras;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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 {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
// moteur
private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
@ -18,7 +20,7 @@ public class Pivot extends SubsystemBase {
public void monteDescendre(double vitesse) {
pivot.set (vitesse);
}
// encoder
// encodeur
public double distance(){
return (pivot.getEncoder().getPosition());
}
@ -27,6 +29,6 @@ public class Pivot extends SubsystemBase {
}
@Override
public void periodic() {
Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
teb .add ("encodeur pivot",0.1);
}
}