PLS5618/robot-2023
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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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2
src/main/java/frc/robot/Constants.java
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@ -5,6 +5,8 @@ public class Constants {
public static int avantgauche = 1; public static int avantgauche = 1;
public static int arrieredroit = 2; public static int arrieredroit = 2;
public static int arrieregauche = 3; public static int arrieregauche = 3;
public static int BrasTelescopique = 5;

15
src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
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@ -4,11 +4,26 @@
package frc.robot.subsystems.bras; package frc.robot.subsystems.bras;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class BrasTelescopique extends SubsystemBase { public class BrasTelescopique extends SubsystemBase {
/** Creates a new BrasTelescopique. */ /** Creates a new BrasTelescopique. */
public 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 @Override
public void periodic() { public void periodic() {