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grimpe

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This commit is contained in:
Antoine PerreaultE
2026-04-07 19:51:41 -04:00
parent 01edf1cb01
commit 27ea9d96e3
1 changed files with 5 additions and 1 deletions
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6
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -4,6 +4,8 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkMaxConfig; import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkLowLevel.MotorType;
@@ -18,13 +20,15 @@ public class Grimpeur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb"); ShuffleboardTab teb = Shuffleboard.getTab("teb");
SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless); SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless); SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
SparkMaxConfig slaveConfig = new SparkMaxConfig(); SparkMaxConfig slaveConfig = new SparkMaxConfig();
DigitalInput limit = new DigitalInput(0); DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurGrimpeur = private GenericEntry EncodeurGrimpeur =
teb.add("Position haut grimpeur", 100).getEntry(); teb.add("Position haut grimpeur", 100).getEntry();
public void Grimper(double vitesse){ public void Grimper(double vitesse){
grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
grimpeur2.configure(slaveConfig.follow(grimpeur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
grimpeur1.set(vitesse); grimpeur1.set(vitesse);
grimpeur2.set(vitesse);
} }
public double Position(){ public double Position(){
return grimpeur1.getEncoder().getPosition(); return grimpeur1.getEncoder().getPosition();