45 lines
1.2 KiB
Java
45 lines
1.2 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 edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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public class Pivot extends SubsystemBase {
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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// moteur
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private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
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private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
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// function
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public void monteDescendre(double vitesse) {
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pivot.set (vitesse);
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}
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// encodeur
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public double distance(){
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return (pivot.getEncoder().getPosition());
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}
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public void Reset(){
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pivot.getEncoder().setPosition(0);
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}
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public boolean limitpivot(){
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return limitpivot.get();
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}
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@Override
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public void periodic() {
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teb .add("encodeur", 0.1);
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}
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{
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teb.add ("encodeur pivot",0.1);
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}
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}
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