55 lines
1.6 KiB
Java
55 lines
1.6 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;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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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 frc.robot.Constants;
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public class Gratte extends SubsystemBase {
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);
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private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
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private DigitalInput limithd = new DigitalInput(Constants.limithd);
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private DigitalInput limithg = new DigitalInput(Constants.limithg);
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private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
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private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
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public boolean hautd(){
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return limithd.get();
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}
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public boolean hautg(){
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return limithg.get();
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}
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public boolean basd(){
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return limitbd.get();
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}
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public boolean basg(){
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return limitbg.get();
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}
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/** Creates a new Gratte. */
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public Gratte() {}
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public void Lever(double vitesse){
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Gratted.set(vitesse);
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Gratteg.set(vitesse);
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}
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public void baiser(double vitesse){
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Gratted.set(-vitesse);
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Gratteg.set(-vitesse);
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}
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@Override
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public void periodic() {
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teb .add("limithd", 0.1);
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teb .add("limithg", 0.1);
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teb .add("limitbd", 0.1);
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teb .add("limitbg", 0.1);
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}
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}
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