33 lines
973 B
Java
33 lines
973 B
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.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import static frc.robot.Constants.*;
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public class Pivot extends SubsystemBase {
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// moteur
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private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
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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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// encoder
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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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@Override
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public void periodic() {
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Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
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}
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}
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