44 lines
1.5 KiB
Java
44 lines
1.5 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.subsystem;
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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 edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class Guideur extends SubsystemBase {
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/** Creates a new Guideur. */
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ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
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final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
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final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
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final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
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public Guideur() {
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dashboard.addBoolean("limitguideurhaut", guideurhaut::get)
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.withSize(1,1)
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.withPosition(1,1);
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dashboard.addBoolean("limitguideurbas", guideurbas::get)
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.withSize(1,1)
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.withPosition(2,1);
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}
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public void guider(double vitesse){
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guideur.set(vitesse);
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}
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public boolean haut(){
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return !guideurhaut.get();
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}
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public boolean bas(){
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return !guideurbas.get();
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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