PLS5618/robot-2023
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

hjymjghn

Browse Source
This commit is contained in:
samuel desharnais
2023-02-15 18:54:35 -05:00
parent 74da425b74
commit 9c97072db1
3 changed files with 24 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
src/main/java/frc/robot/subsystems/bras/Pivot.java
View File

@ -4,14 +4,17 @@
package frc.robot.subsystems.bras;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import static frc.robot.Constants.*;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
public class Pivot extends SubsystemBase {
// moteur
private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
// function
public void monteDescendre(double vitesse) {
@ -23,6 +26,10 @@ public class Pivot extends SubsystemBase {
}
public void Reset(){
pivot.getEncoder().setPosition(0);
}
public boolean limitpivot(){
return limitpivot.get();
}
@Override
public void periodic() {