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samuel desharnais
2023-02-08 19:13:50 -05:00
parent 3ee0a46bfa
commit f9c6011a3c
2 changed files with 17 additions and 0 deletions
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15
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@@ -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() {