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

src/main/java/frc/robot/subsystems/Gratte.java

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Gratte extends SubsystemBase {
+  /** Creates a new Gratte. */
+  public Gratte() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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