From f9c6011a3c9d3681360db49ee770d647bababada Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 8 Feb 2023 19:13:50 -0500
Subject: [PATCH] mghvhj

---
 src/main/java/frc/robot/Constants.java            |  2 ++
 .../robot/subsystems/bras/BrasTelescopique.java   | 15 +++++++++++++++
 2 files changed, 17 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index fe07cb5..4a5c923 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,6 +5,8 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
+    public static int BrasTelescopique = 5;
+
 
 
 
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 140625f..f4f1458 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/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() {