56 lines
1.9 KiB
Java
56 lines
1.9 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems.bras;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.PneumaticsModuleType;
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import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class BrasTelescopique extends SubsystemBase {
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ShuffleboardLayout layout = Shuffleboard.getTab("teb")
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.getLayout("bras", BuiltInLayouts.kList)
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.withSize(2, 2);
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/** Creates a new BrasTelescopique. */
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public BrasTelescopique() {
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layout .addBoolean("photocell",this::photocell);
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layout .addDouble("encodeur",this::distance);
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}
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final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
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private DigitalInput photocell = new DigitalInput(Constants.photocell);
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private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
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public void AvanceRecule(double vitesse) {
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Winch.set(vitesse);
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}
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public double distance() {
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return(Winch.getEncoder().getPosition());
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}
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public void Reset() {
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Winch.getEncoder().setPosition(0);
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}
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public boolean photocell(){
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return photocell.get();
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}
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public void fermer() {
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brakewinch.set(Value.kReverse);
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}
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public void ouvrir() {
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brakewinch.set(Value.kForward);
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}
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@Override
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public void periodic() {
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if(photocell())Reset();
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}
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} |