// 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 com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

public class BrasTelescopique extends SubsystemBase {
  
ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
ShuffleboardLayout layout = Shuffleboard.getTab("teb")
.getLayout("yeet", BuiltInLayouts.kList)
.withSize(2, 2);
  /** 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() {
    yeet.add ("encodeur",0.1);
  }
}