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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;
+
 
 
 

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() {