// 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.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 { // 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 } }