avancement du dashboard

This commit is contained in:
2024-02-05 19:15:56 -05:00
parent b4496c8987
commit f5e879878a
6 changed files with 24 additions and 8 deletions

View File

@ -7,15 +7,24 @@ package frc.robot.subsystem;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class Lanceur extends SubsystemBase {
/** Creates a new Lanceur. */
public Lanceur() {}
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private GenericEntry vitesse =
dashboard.add("vitesse", 1)
.getEntry();
private GenericEntry vitesseamp =
dashboard.add("vitesseamp", 1)
.getEntry();
public Lanceur() {
}
final CANSparkMax lanceur1 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
@ -26,6 +35,12 @@ public class Lanceur extends SubsystemBase {
public void lancer(double vitesse){
lanceur1.set(vitesse);
}
public void lancerspeaker(){
lancer(vitesse.getDouble(0.1));
}
public void lanceramp(){
lancer(vitesseamp.getDouble(0.5));
}
public double vitesse(double vitesse){
return lanceur1.getEncoder().getVelocity();
}